Robot grabbing gripper for special-shaped objects

Abstract

The invention discloses a robot grabbing gripper for special-shaped objects. The robot grabbing gripper comprises a base, a plurality of clamping jaws movably arranged on the base, and a clamping jaw sliding driving mechanism arranged on the base and used for controlling all the clamping jaws to move. Each clamping jaw comprises a movable finger root connected with the clamping jaw sliding driving mechanism, a gripper finger tip, a gripper finger middle part, an elastic connecting piece connected with the gripper finger middle part and the gripper finger tip, and a bending mechanism arranged on the movable finger root and used for controlling the gripper finger middle part and the gripper finger tip to rotate. The robot grabbing gripper for the special-shaped objects has the advantages that the number of driving elements is small, the robot grabbing gripper is simple to control, the gripper load is small, the self-adaption capacity to the special-shaped objects is high, and the special-shaped objects are grabbed stably; and the application space of a robot is expanded, and the robot can make better response when facing a complex environment.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular, the invention relates to a robot grabbing gripper facing special-shaped objects. Background technique [0002] Today, with the continuous development of society, the social division of labor is becoming more and more detailed, and the types of work are also beginning to diversify. However, many tasks cannot be done by manpower or fail to achieve the expected goals. For this reason, robots have emerged as the times require. Countries all over the world have begun to develop robot technology, using robots to replace humans to complete work. For example, the factory uses robots to replace manual assembly of cars, which not only reduces the error rate of work, but also reduces labor costs and speeds up the assembly of cars; using search and rescue robots to search and rescue victims can speed up the search for victims , At the same time, it can also prevent search and rescue personnel...

AI Technical Summary

Problems solved by technology

However, too many motors will increase the load on the robot gripper and affect the performance of the robot gripper;

[0007] 2. The claw structure is complex

In order to achieve stable grasping of the robot gripper, gear transmission is often used in the transmission mode. This transmission mode has a large transmission force and high transmission reliability, but at the same time, it is large in size and complicated in structure, which is not conducive to the robot. control of the paws;

[0008] 3. Poor adaptability of claws

However, the stability and reliability of different grasping modes are quite different, and the gripper cannot choose a suitable grasping mode to increase the ability to actively adapt to the shape of the object, which is prone to unstable grasping

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