Robot gripper

Abstract

The invention discloses a robot gripper. The robot gripper comprises a clamping jaw assembly fixed to a mechanical arm and driven by a rotation driving motor to rotate; a torque sensor used for collecting the rotation torque of the clamping jaw assembly; and an opening and closing assembly installed on the clamping jaw assembly and driven by an opening and closing motor to be opened and closed. The opening and closing motor and the rotation motor are arranged at the rear portion and act in parallel, so that the tail end action execution inertia is reduced, and the power consumption of a whole machine is reduced; due to the fact that a micro button pressing mechanism is additionally arranged and tail end power is provided for the pressing mechanism, space movement of a whole clamping jaw does not need to be conducted in the button pressing executing process, the pressing action execution inertia is small, the power consumption is small, and the execution precision is high.

Description

technical field [0001] The invention relates to the field of robot equipment, in particular to a robot gripper. Background technique [0002] With the development of science and technology, robots have been widely used in the fields of industrial automation and special inspection operations. In order to complete the reliable operation of targets such as single-turn / multi-turn knobs and tiny buttons, a multi-functional multi-DOF robot gripper with torque sensing and micro-view monitoring is essential. [0003] A utility model patent (CN207841370U) discloses a robot gripper device and a robot. The gripper has a single action and the clamping action has a small displacement, and the operating environment has relatively large limitations. Invention patent (CN108214534A) discloses an adaptive underactuated robot gripper with complex structure, large structure size, high difficulty in assembly, and inability to operate tiny buttons and knobs. [0004] At this stage, most of the ...

AI Technical Summary

Problems solved by technology

[0003] A utility model patent (CN207841370U) discloses a robot gripper device and a robot. The gripper has a single action and the displacement of the gripping action is small, and the operating environment has relatively large limitations.

Invention patent (CN108214534A) discloses an adaptive underactuated robot gripper with complex structure, large structure size, high difficulty in assembly, and inability to operate tiny buttons, knobs, etc.

[0004] At this stage, most of the operating grippers of robots that have been announced only have a simple clamping function and a single action, which cannot realize the clamping and operation of tiny devices, and the operation lacks a visual closed loop, which cannot fundamentally guarantee reliable operation of objects

The gripper does not have the function of multi-turn rotation and torque detection, and cannot reliably operate the target operation object that requires multi-turn rotation and the object whose rotation torque is uncontrollable

At the same time, the opening, closing and turning actions are connected in series, and the overall structure is larger, resulting in a heavier end actuator.

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