Flexible mechanical gripper and working method thereof

Abstract

The invention discloses a flexible mechanical gripper and a working method thereof. The gripper comprises a main frame, a transverse moving module, a longitudinal moving module, a locking module, a torsional spring module, a finger module and a sensor module, wherein the main frame is connected with a mechanical arm; the transverse moving module is installed on the main frame; the transverse moving module is of a structure that a gear, a rack and a sliding block are matched, and thus the longitudinal moving module installed on the sliding block can move horizontally; the longitudinal moving module comprises a structure that a driving wheel, a driven wheel and a lead screw are matched, and thus longitudinal moving of the finger module is achieved; two-dimensional moving of the fin-shaped finger module is achieved through the longitudinal moving module and the transverse moving module; the locking module is connected with the torsional spring module; the torsional spring module is connected to the fin-shaped finger module and used for fixing the direction of the finger module; the sensor module comprises a binocular vision sensor; and the binocular vision sensor is embedded in the front side of the main frame and used for recognizing the position of a target. The special structure applied to the gripper can adapt to most common objects, and various requirements are met basically.

Description

technical field [0001] The invention relates to the field of mechanical grippers, in particular to a flexible robotic gripper and a working method thereof. Background technique [0002] Robotic grippers are an important part of robots. Rigid robotic grippers can greatly improve positioning accuracy and grasping accuracy when grasping small, complex-shaped and easily damaged objects. For flexible grippers, because of their structure and materials It will become easier to change the flexible gripper to grasp the above-mentioned objects. [0003] Chinese patent (Patent No. CN 111469156 A) proposes a rigid-flexible humanoid five-finger robotic gripper, which includes bionic joints, rigid wire-driven joints, and bionic palms. The load it bears is small, but the adaptability of the mechanical claw is small, and it cannot cooperate with the common mechanical arms on the market to complete the action of grabbing objects. [0004] The present invention—the new type of flexible robo...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent (Patent No. CN 111469156 A) proposes a rigid-flexible humanoid five-finger robotic gripper, which includes bionic joints, rigid wire-driven joints, and bionic palms. The load it bears is small, but the adaptability of the gripper is small, and it cannot cooperate with the common mechanical arms on the market to complete the action of grabbing objects

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