Terminal executing device capable of measuring force and used for robot

Abstract

The invention discloses a terminal executing device capable of measuring force and used for a robot. The terminal executing device comprises a terminal body; the terminal body comprises a plurality ofbearing pieces which are sequentially connected in a bent mode, elastic elements arranged on the inner sides of the bearing pieces and strain gauges, wherein each elastic element at least comprises an assembling part capable of being connected to the corresponding bearing piece in a fastening mode and an elastic part arranged to extend from the corresponding assembling part, and the elastic partsand the inner walls of the bearing pieces keep a certain distance; and the strain gauges are arranged on the inner wall, facing towards the inner wall direction of the bearing pieces, of the elasticparts. By implementing the terminal executing device capable of measuring force and used for the robot, real time strain can be measured in the operation process so as to reduce the control difficulty; and the structure is simplified, rigidity damage to the terminal and a manipulator due to rigid collision can be reduced, reliability is high, adaptability is wide, and the cost is easy to control.

Description

technical field [0001] The invention relates to the field of robots, in particular to a measurable force end effector for a robot. Background technique [0002] Executing structures for the end of the robot in the prior art mainly include two-finger translational manipulators, three-finger industrial manipulators, combined manipulators, and human simulation grippers. Due to the unreasonable structural design of the above-mentioned type of manipulator, there are the following technical defects, which are mainly reflected in: [0003] 1. The cost of the two-finger translational manipulator and the three-finger industrial manipulator is low, and the control system is simple, but it is not flexible enough in the operation methods such as grabbing tools, and it will generate internal force on the mechanical arm when clamping for the door opening operation; [0004] 2. The combined manipulator and human simulation gripper have many controllable motion joints, but the system is qu...

AI Technical Summary

Problems solved by technology

[0003] 1. The cost of the two-finger translational manipulator and the three-finger industrial manipulator is low, and the control system is simple, but it is not flexible enough in the operation methods such as grabbing tools, and it will generate internal force on the mechanical arm when clamping for the door opening operation;

[0004] 2. The combined manipulator and human simulation gripper have many controllable motion joints, but the system is quite complicated, the control system is complicated, and the cost is high

Images