Robot clamping jaw
Through the elastic steel sheet and the robotic jaw designed with the driving structure, the problem of unstable grasping in the existing technology is solved, and the precise grasping of complex and fragile items is achieved, which improves the adaptability and stability of the jaw.
Patent Information
- Application Number
- CN202510643456.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-19
- Publication Date
- 2025-07-11
AI Technical Summary
Existing robotic jaws lack elasticity and adaptability, making it difficult to effectively grasp objects with irregular shapes or large size differences, especially fragile or soft objects, resulting in unstable grasping or damage to the object.
The robot jaws designed with elastic steel sheets and driving structures are used to accurately grasp objects through adaptive adjustment of elastic steel sheets and precise control of driving structures.
It realizes stable clamping of complex, soft or fragile items, enhances the flexibility and versatility of the clamping jaws and avoids damage to objects.
Smart Images
Figure CN120287334A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of robots, and particularly to a robot gripper. Background Art
[0002] A robot gripper is also called a robot hand. A robot gripper is a type of end effector of a robot, mainly used for grasping, transporting, or operating objects. The application of robot grippers covers various fields, and can replace the traditional manual handling method, providing convenience for people's lives.
[0003] With the progress of industrial automation and robot technology, traditional rigid robot gripper devices can no longer meet the requirements in precise grasping and transportation. Most existing robot grippers adopt mechanical grippers or fixed-form designs, mainly driving the gripper to open and close by air pressure to grasp items. However, this rigid structure cannot effectively adapt to objects with irregular shapes or large size differences, easily resulting in unstable grasping or object damage, making it difficult to handle variable grasping scenarios. Especially when grasping some fragile or soft items, it lacks the ability to adaptively adjust according to the object characteristics, making it unable to be applied in some complex environments, restricting the flexibility and versatility of the device.
[0004] In summary, the existing designs lack sufficient flexibility and adaptability, and a robot gripper device that can adaptively adjust according to object characteristics is needed. Summary of the Invention
[0005] To solve the above technical problems, the present invention provides a robot gripper that can adaptively adjust according to the characteristics of the grasped object.
[0006] The present invention provides a robot gripper, including: A housing; Two sets of clamping structures, symmetrically arranged on both sides of the housing. The clamping structure includes a first elastic steel sheet, a second elastic steel sheet, a base, and a suction cup. One end of the first elastic steel sheet is arranged on one side of the housing, one end of the second elastic steel sheet penetrates into the housing, the second elastic steel sheets of the two sets of clamping structures are adjacent, the base is arranged at the ends of the first elastic steel sheet and the second elastic steel sheet away from the housing, and the suction cup is arranged on the base. The suction cup is used for clamping items; A driving structure, arranged in the housing. The driving structure has an output end, and the output end of the driving structure is connected to the ends of the second elastic steel sheets in the two sets of clamping structures. The driving structure is used to drive the two second elastic steel sheets to expand and contract in the housing, so that the two clamping members move relatively or away from each other.
[0007] Preferably, the first elastic steel sheet and the second elastic steel sheet are arc-shaped, and the central angles of the first elastic steel sheet and the second elastic steel sheet of each clamping structure are close to each other.
[0008] Preferably, the driving structure includes: A support block disposed within the housing; A driving member disposed on the support block, the driving member having an output end; A screw, one end of which is connected to the output end of the driving member, the driving member being configured to drive the screw to rotate, the other end of the screw being rotatably connected to the inner wall of the housing, the axial direction of the screw being consistent with the length direction of the housing; A connection block is threaded through the screw, the connection block is threadedly connected to the screw, and one ends of the two second elastic steel sheets are fixed to the side wall of the connection block.
[0009] Preferably, it further includes: Two guide rods symmetrically penetrate through the connection block, both ends of the guide rods are respectively fixed on the inner wall of the housing, and the axial direction of the guide rods is consistent with the axial direction of the screw.
[0010] Preferably, it further includes: Two pressure sensors are respectively disposed on one sides of the two suction cups opposite to each other; A controller is electrically connected to the two pressure sensors and the driving member, the controller is configured to calculate a clamping force value according to the weight of the target object, and the controller controls the driving member to operate such that the real-time pressure value obtained by the pressure sensors is greater than the clamping force value.
[0011] Preferably, the calculation method of the clamping force value includes: (4) Wherein, in the above formula (4), is the clamping force value, with the unit of N; is the mass of the target object, with the unit of KG; is the gravitational acceleration, with the unit of m / s 2 ; is the surface friction coefficient of the target object; is the acceleration factor; is the safety factor; (5) Wherein, in the above formula (5), is the acceleration generated when the two suction cups (13) clamp and move the target object.
[0012] Preferably, the shell includes two symmetrically arranged half shells, the two half shells are detachably connected, the two first elastic steel sheets and the two second elastic steel sheets are arranged on one of the half shells, the two first elastic steel sheets are respectively arranged on both sides of the half shells, and the two second elastic steel sheets are respectively passed through one end of the half shells.
[0013] Preferably, it also includes: The bracket is U-shaped and is arranged at one end of the shell away from the second elastic steel sheet. The bracket is used to be fixed to the robot host.
[0014] Compared with the prior art, the present invention discloses a robot gripper, which has the following beneficial effects: The device supports the clamping member by arranging a first elastic steel sheet and a second elastic steel sheet made of steel sheets. The steel sheets are elastic materials and have a certain elasticity. They can be adaptively adjusted according to the shape and other characteristics of the object, thereby achieving precise grasping. It is particularly suitable for processing objects with complex shapes, softness or fragility. At the same time, by driving the two clamping members to move relative or away from each other through the driving structure, the two clamping members can be further accurately controlled to clamp the target object, thereby achieving precise grasping. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural explosion diagram of the present invention; Figure 3 It is a structural schematic diagram of the driving structure of the present invention.
[0017] Reference numerals: 1—clamping structure, 2—driving structure, 3—bracket, 11—first elastic steel sheet, 12—base, 13—suction cup, 14—second elastic steel sheet, 21—housing, 22—support block, 23—driving member, 24—screw, 25—connecting block, 26—guide rod, 211—semi-housing. DETAILED DESCRIPTION
[0018] A specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation.
[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the technical solution of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.
[0020] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the term "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to specific circumstances.
[0021] In addition, in the description of the present invention, "a plurality of" means two or more than two. The terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.
[0022] Embodiment 1 The embodiment of the present invention provides a robot gripper as Figure 1As shown, it is mainly used for object grasping, handling, and assembly tasks in industrial automation, and is particularly suitable for robot grippers that can adaptively adjust according to changes in object shape and size. It includes: a housing 21, a clamping structure 1, and a driving structure 2. The housing 21 serves as the support structure for the entire gripper, and the housing 21 is connected to the robot main body; two sets of clamping structures 1 are symmetrically arranged on both sides of the housing 21, and the two sets of clamping structures 1 clamp the article relatively. The clamping structure 1 includes a first elastic steel sheet 11, a second elastic steel sheet 14, and a clamping member. The first elastic steel sheet 11 and the second elastic steel sheet 14 are steel sheets with a certain elasticity. One end of the first elastic steel sheet 11 is arranged on one side of the housing 21, and the first elastic steel sheets 11 in the two sets of clamping structures 1 are arranged relatively. One end of the second elastic steel sheet 14 passes through the housing 21, and the second elastic steel sheets 14 of the two sets of clamping structures 1 are located between the two first elastic steel sheets 11, that is, the two first elastic steel sheets 11 are on the outside and the two second elastic steel sheets 14 are on the inside. The two first elastic steel sheets 11 are installed on both sides of the housing 21 to provide support for the entire clamping structure 1. At the same time, the first elastic steel sheet 11 has elasticity, enabling it to adapt to the object shape and deform moderately during the grasping process. The two second elastic steel sheets 14 are located in the middle of the housing 21 to enhance the support force and elastic response and prevent excessive deformation. The clamping member is arranged at the end of the first elastic steel sheet 11 and the second elastic steel sheet 14 facing away from the housing 21, and the clamping member is used to clamp the article. The clamping members in the two sets of clamping structures 1 are arranged relatively; the driving structure 2 is arranged in the housing 21, and the driving structure 2 has an output end. The output end of the driving structure 2 is connected to the ends of the second elastic steel sheets 14 in the two sets of clamping structures 1. The driving structure 2 is used to drive the two second elastic steel sheets 14 to expand and contract in the housing 21, so that the two clamping members move relatively or away from each other. Since the length of the second elastic steel sheet 14 is fixed, when the two second elastic steel sheets 14 extend into the housing 21, they drive the two first elastic steel sheets 11 and the clamping member to approach and clamp the article. When the two second elastic steel sheets 14 extend out of the housing 21, they drive the two first elastic steel sheets 11 and the clamping member to move away from each other to release the article or adjust the opening distance between the two clamping members according to the shape of the article. This device supports the clamping member by setting the first elastic steel sheet 11 and the second elastic steel sheet 14 made of steel sheets. The steel sheets are elastic materials with a certain elasticity and can adaptively adjust according to the shape and other characteristics of the object, thereby achieving precise grasping. It is particularly suitable for handling articles with complex shapes, softness, or fragility. At the same time, by driving the two clamping members to move relatively or away from each other through the driving structure 2, the two clamping members can be further precisely controlled to clamp the target object, realizing precise grasping.
[0023] Furthermore, the first elastic steel sheet 11 and the second elastic steel sheet 14 are arc-shaped, and the arc-shaped first elastic steel sheet 11 and the second elastic steel sheet 14 can adapt to objects of various shapes, thereby increasing the range of sizes of clamped objects. The concave surfaces of the first elastic steel sheet 11 and the second elastic steel sheet 14 of each group of clamping structures 1 are arranged relatively to each other, that is, the first elastic steel sheet 11 and the second elastic steel sheet 14 in each group of clamping structures 1 are in a bracket shape. This arrangement is arranged according to the functions of the first elastic steel sheet 11 and the second elastic steel sheet 14 to avoid excessive deformation of the first elastic steel sheet 11 and the second elastic steel sheet 14. At the same time, this arrangement is also for better realizing the grasping action. If the bending direction of the first elastic steel sheet 11 and the second elastic steel sheet 14 changes, it may be impossible to realize the grasping and releasing actions or there may be limitations in realizing the actions.
[0024] This embodiment provides a specific structure of a clamping member, and further, the clamping member includes: a base 12 and a suction cup 13. The base 12 is arranged at the end of the first elastic steel sheet 11 and the second elastic steel sheet 14 away from the housing 21, and the base 12 plays a supporting role; the suction cup 13 is arranged on the base 12, and the suction cups 13 in the two clamping members are arranged oppositely. The suction cups 13 can be used to absorb the surface of the object, and the clamping can be more stable. At the same time, the suction cup 13 is made of a flexible material, such as rubber, which can evenly distribute the grasping force to avoid damage to the object or scratches on the surface due to excessive force, and is particularly suitable for grasping precise and valuable objects.
[0025] Among them, the suction cups made of flexible materials or deformable designs can adjust the contact area by changing the shape or surface curvature. For example, some suction cups will naturally expand or contract when pressure is applied, thereby increasing or decreasing the contact area. Such a design can automatically adjust the contact area according to the size and shape of the object to ensure that the clamping force is evenly distributed. At the same time, the contact angle of the suction cup can be adjusted by a mechanical structure or a servo motor. The suction cup can be tilted within a preset range to change the angle between the contact surface and the surface of the object. According to the geometric shape and clamping position of the object, the controller can automatically adjust the angle of the suction cup to ensure a uniform distribution of the clamping force. In complex automated systems, robot arms are often used to accurately control the contact angle of the suction cup. By adjusting the position of the robot arm, the angle between the suction cup and the surface of the object can be accurately adjusted to ensure a uniform distribution of the contact force during the clamping process.
[0026] This embodiment provides a specific structure of a driving structure 2, such as Figure 2As shown in the figure, further, the driving structure 2 includes: a support block 22, a driving member 23, a screw 24, and a connecting block 25. The support block 22 is arranged inside the housing 21, and the support block 22 plays a supporting role for the driving member 23; the driving member 23 is arranged on the support block 22, and the driving member 23 has an output end; one end of the screw 24 is connected to the output end of the driving member 23, and the driving member 23 is used to drive the screw 24 to rotate. The driving member 23 can be a motor, a servo, or other rotational driving structures. The other end of the screw 24 is rotatably connected to the inner wall of the housing 21 through a bearing. The axial direction of the screw 24 is consistent with the length direction of the housing 21, and at the same time, the axial direction of the screw 24 is consistent with the telescopic direction of the second elastic steel sheet 14; the connecting block 25 is sleeved on the screw 24, and the connecting block 25 is threadedly connected to the screw 24. One ends of the two second elastic steel sheets 14 are fixed to the side wall of the connecting block 25. The working principle of the driving structure 2 in this embodiment: When the driving member 23 works, it drives the screw 24 to rotate. Since the connecting block 25 is threadedly connected to the screw 24, when the screw 24 rotates, it can drive the connecting block 25 to move on the screw 24, thereby driving the two second elastic steel sheets 14 to move synchronously, and telescoping relative to the housing 21. During the telescoping process, the two clamping members are driven to move relative to or away from each other.
[0027] In order to prevent the connecting block 25 from rotating synchronously with the screw 24, further, it further includes: two guide rods 26 symmetrically sleeved inside the connecting block 25. That is, through holes are provided in the connecting block 25, and the guide rods 26 are sleeved in the through holes, and the guide rods 26 are in clearance fit with the through holes. Both ends of the guide rods 26 are fixed to the inner wall of the housing 21, and the axial direction of the guide rods 26 is consistent with the axial direction of the screw 24. Because the positions of the guide rods 26 are fixed, when the screw 24 rotates, the two guide rods 26 limit the movement, and the connecting block 25 cannot rotate, so that the connecting block 25 can only move linearly. At the same time, the axial direction of the guide rods 26 is consistent with the axial direction of the screw 24, and the guide rods 26 will not affect the linear movement of the connecting block 25, and can guide the connecting block 25 to prevent the connecting block 25 from rotating synchronously with the screw 24.
[0028] Embodiment 2 As a further improved solution based on Embodiment 1, further, it further includes: a pressure sensor and a controller. The two pressure sensors are respectively arranged on the opposite sides of the two suction cups 13; the controller is electrically connected to the two pressure sensors and the driving member 23. The controller is used to calculate the clamping force value according to the weight of the target object, and the controller controls the driving member 23 to work so that the real-time pressure value obtained by the pressure sensor is greater than the clamping force value. The clamping force value is the minimum clamping value. Generally, to clamp the target object, the pressure value detected by the pressure sensor in real time needs to be slightly greater than the clamping force value.
[0029] Among them, the appropriate range of the clamping force can also be evaluated through the following two main methods: 1. By setting standard values: Based on the properties of the object such as material and size, combined with physical principles and experimental data, set the required clamping force. For example, through parameters such as the elastic modulus and compressive strength of the material, as well as the shape and size of the object, preset the clamping force ranges for different items.
[0030] 2. By real-time monitoring of the deformation of the suction cup: Use a camera to real-time monitor the deformation of the suction cup during the clamping process, and then evaluate the suitability of the clamping force. The degree of deformation can reflect the magnitude of the clamping force. Combining image processing techniques (such as shape recognition and deformation detection based on deep learning), the deviation between the shape of the suction cup and the set standard can be dynamically judged, and the clamping force can be adjusted accordingly. This method is flexible and real-time, suitable for scenarios where the characteristics of the item are difficult to preset, and can be flexibly adjusted according to the actual situation.
[0031] The acquisition of the weight of the above target object can be achieved by relying on the camera on the entire robot. The camera is used to scan the target object to obtain data such as the shape and size of the object. Corresponding algorithms can be set inside the controller. By using the camera to scan to obtain the size (such as length, width, height or diameter, etc.) and material (such as metal, plastic, glass, etc.) of the item, and then use physical formulas to calculate the estimated weight of the item based on its geometric shape and material. Different materials have different densities. Combining the object size and the density formula, the controller can calculate the approximate weight of the item. And calculate the optimal clamping range, dynamically adjust the opening and closing distance of the suction cup to ensure uniform distribution of the clamping force. According to the calculated weight, the controller sets the initial clamping force. According to the weight range of the item, the controller will select an appropriate clamping force to ensure the item is firmly clamped and avoid damage caused by excessive force. During the actual clamping process, the controller will monitor the clamping state through real-time sensor feedback (such as pressure sensors, deformation detection, etc.). If deformation of the item or the clamping force does not meet expectations is detected during the clamping process, the controller will fine-tune the clamping force according to the real-time data to ensure that the force is always adapted to the actual weight of the item. Considering the possible complex non-linear relationship between the weight and shape of the item, the controller can further introduce a machine learning model for optimization. By collecting data on the shape, material, weight and clamping force of different items, the controller can train a regression model or a classification model to predict the weight and required clamping force based on the shape characteristics of the item. This process enables the controller to more accurately predict the clamping requirements of various items and make dynamic adjustments. At the same time, the camera on the robot can also scan out position data, generate a grasping path and action plan based on the acquired data (first, the robot as a whole moves to the general range, and then the entire gripper is fine-tuned to achieve precise grasping), and control the working state of the driving part 23 according to the grasping path and action plan generated by the data processing unit.
[0032] Further, the calculation method for obtaining the clamping force value by estimating the approximate weight of the object is as follows: (4) Among them, in the above formula (4), is the clamping force value, with the unit of N. In this embodiment, refers to the minimum clamping force value, that is, the minimum force required to move the target object when clamping. The above formula calculates that the robot gripper can still stably grasp the target object under the most unfavorable conditions (minimum friction, maximum acceleration). Its value is obtained through theoretical calculation and is used as a reference for the safety lower limit in the gripper design; is the mass of the target object, that is, the approximate weight of the object calculated by the above method, with the unit of KG; is the acceleration due to gravity, with the unit of m / s 2 ; is the surface friction coefficient of the target object, which can be obtained from the friction coefficient matrix of the controller (for example, rubber - metal 0.8, silicone - glass 1.2, etc.); is the acceleration factor, which takes into account the inertial interference of the controller during movement; is the safety factor. This safety factor mainly considers the uncertain factors that may occur during the actual operation of the robot gripper, such as surface contamination of the target object, dynamic vibration, control error, etc. Usually, this value is set according to experience or industry standards, and the common value range is 1.2 - 2.0. A higher value is selected for fragile materials to avoid damage.
[0033] (5) Among them, in the above formula (5), is the acceleration generated when the two suction cups (13) clamp and move the target object, that is, the acceleration generated during the process of the robot gripper moving to the target position after grasping the target object. This acceleration is set by the robot program. In this embodiment, the value range of 2 ~3m / s 2 .
[0034] Among them, other structures of this embodiment are the same as those of Embodiment 1, which is only an optimization of Embodiment 1.
[0035] Embodiment 3 As a further improved solution based on Embodiment 1, such as Figure 3As shown, further, the shell 21 includes two symmetrically arranged half shells 211, the two half shells 211 are detachably connected, two first elastic steel sheets 11 and two second elastic steel sheets 14 are arranged on one of the half shells 211, the two first elastic steel sheets 11 are respectively arranged on both sides of the half shell 211, and the two second elastic steel sheets 14 are respectively passed through one end of the half shell 211.
[0036] Furthermore, the bracket 3 is U-shaped and is arranged at one end of the housing 21 away from the second elastic steel sheet 14 , and the bracket 3 is used to be fixed to the robot host.
[0037] Among them, other structures of this embodiment are consistent with those of embodiment 1, and are just optimizations made to embodiment 1.
[0038] The advantage of the present invention is that the device supports the clamping member by arranging a first elastic steel sheet and a second elastic steel sheet made of steel sheets. The steel sheets are elastic materials and have a certain elasticity. They can be adaptively adjusted according to the shape and other characteristics of the object, thereby achieving precise grasping. It is particularly suitable for processing objects with complex shapes, soft or fragile objects. At the same time, by driving the two clamping members to move relative or away from each other through the driving structure, the two clamping members can be further accurately controlled to clamp the target object, thereby achieving precise grasping.
[0039] The above disclosures are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto. Any changes that can be conceived by those skilled in the art should fall within the protection scope of the present invention.
Claims
1. A robot gripper, characterized in that, include: Shell (21); Two groups of clamping structures (1) are symmetrically arranged on both sides of the shell (21), the clamping structure (1) comprising a first elastic steel sheet (11), a second elastic steel sheet (14), a base (12) and a suction cup (13), one end of the first elastic steel sheet (11) is arranged on one side of the shell (21), one end of the second elastic steel sheet (14) is inserted into the shell (21), the second elastic steel sheets (14) of the two groups of the clamping structures (1) are adjacent, the base (12) is arranged at one end of the first elastic steel sheet (11) and the second elastic steel sheet (14) facing away from the shell (21), the suction cup (13) is arranged on the base (12), and the suction cup (13) is used to clamp an object; A drive structure (2) is arranged in the housing (21), the drive structure (2) having an output end, the output end of the drive structure (2) being connected to the ends of the second elastic steel sheets (14) in the two groups of the clamping structures (1), the drive structure (2) being used to drive the two second elastic steel sheets (14) to extend and retract in the housing (21), so that the two clamping members move relative to or away from each other.
2. The robotic gripper according to claim 1, characterized in that, The first elastic steel sheet (11) and the second elastic steel sheet (14) are arc-shaped, and the concave surfaces of the first elastic steel sheet (11) and the second elastic steel sheet (14) of each group of the clamping structure (1) are arranged opposite to each other.
3. A robot gripper according to claim 1, characterized in that, The driving structure (2) comprises: A support block (22) is arranged in the housing (21); A driving member (23) is arranged on the supporting block (22), and the driving member (23) has an output end; a screw rod (24), one end of which is connected to the output end of the driving member (23), the driving member (23) being used to drive the screw rod (24) to rotate, the other end of the screw rod (24) being rotatably connected to the inner wall of the outer shell (21), and the axial direction of the screw rod (24) being consistent with the length direction of the outer shell (21); A connecting block (25) is inserted into the screw rod (24), the connecting block (25) is threadedly connected to the screw rod (24), and one end of the two second elastic steel sheets (14) is fixed to the side wall of the connecting block (25).
4. The robotic gripper according to claim 3, characterized in that, Also includes: Two guide rods (26) are symmetrically arranged in the connection block (25), and two ends of the guide rods (26) are respectively fixed to the inner wall of the outer shell (21), and the axial direction of the guide rods (26) is consistent with the axial direction of the screw rod (24).
5. A robot gripper according to claim 3, wherein, Also includes: Two pressure sensors, respectively arranged on opposite sides of the two suction cups (13); A controller is electrically connected to the two pressure sensors and the driving member (23), the controller is used to calculate a clamping force value according to the weight of the target object, and the controller controls the driving member (23) to operate so that the real-time pressure value obtained by the pressure sensor is greater than the clamping force value.
6. The robotic gripper according to claim 5, wherein, The calculation method of the clamping force value includes: （4） Among them, in the above formula (4), is the clamping force value, with the unit of N; is the mass of the target object, with the unit of KG; is the gravitational acceleration, with the unit of m / s 2 ; is the surface friction coefficient of the target object; is the acceleration factor; is the safety factor; （5） Among them, in the above formula (5), is the acceleration generated when the two suction cups (13) hold and move the target object.
7. A robot gripper according to claim 1, wherein, The housing (21) includes two symmetrically arranged half-housings (211), the two half-housings (211) are detachably connected, the two first elastic steel sheets (11) and the two second elastic steel sheets (14) are both arranged on one of the half-housings (211), the two first elastic steel sheets (11) are respectively arranged on both sides of the half-housing (211), and the two second elastic steel sheets (14) respectively penetrate through one end of the half-housing (211).
8. A robot gripper according to claim 7, wherein, It further includes: A bracket (3), which is U-shaped and is arranged at one end of the housing (21) facing away from the second elastic steel sheet (14), and the bracket (3) is used for fixing to the robot main body.