Robot gripper and control method thereof

Abstract

The invention provides a robot gripper and a control method thereof. The gripper comprises a support and a plurality of gripper mechanisms arranged on the support, each gripper mechanism comprises a fingertip part, a first connecting rod and a second connecting rod, each fingertip part swings around the support under the support of the first connecting rod and the second connecting rod and swings towards the center shaft side of the support to be folded, in the folded state, the first connecting rod is located on the outer side of a center shaft of the support, the second connecting rod is located on the inner side of the center shaft of the support, a lead screw for driving is arranged along the center shaft of the support, the lead screw is sleeved with a lead screw nut, a push rod is arranged for each gripper mechanism, one end of each push rod is rotationally connected with the lead screw nut, and the other ends of the push rods are rotatably connected with swing arms extending from the other end of the first connecting rod or the second connecting rod to the opposite side of the body part of the first connecting rod or the second connecting rod. The robot gripper is small in size and compact in structure. Real-time communication with the robot gripper is realized through the Ethercat.

Description

technical field [0001] The present invention generally relates to the field of robotics, and more particularly, to a robot gripper and a control method thereof. Background technique [0002] In the field of robotics, the robot gripper is installed at the end of the robot to realize the terminal effector for the robot to grab objects. The fully-driven robot gripper usually installs a driver for each joint component. The device is cumbersome and complicated, and the overall gripper is bulky and poorly integrated. The underactuated robotic gripper, although the number of actuators is reduced, cannot precisely control the gripper's clamping force. [0003] Although the existing robot grippers can realize the gripping of objects by the grippers, it often requires a large power output by the motor to move the fingers of the grippers to a suitable position and have a certain clamping force. [0004] Moreover, the existing robot gripper cannot provide real-time grasping information...

AI Technical Summary

Problems solved by technology

[0002] In the field of robotics, the robot gripper is installed at the end of the robot to realize the terminal effector for the robot to grab objects. The fully-driven robot gripper usually installs a driver for each joint component. The device is cumbersome and complicated, and the overall gripper is bulky and poorly integrated.

The underactuated robot gripper, although the number of actuators is reduced, cannot precisely control the gripper's clamping force

[0003] Although the existing robot grippers can grasp the objects with the gripper, it often requires a large output power of the motor to move the fingers of the gripper to a suitable position and have a certain clamping force

[0004] Moreover, the existing robot gripper cannot provide real-time grasping information to the robot body or the operator's operation terminal, and the operator cannot limit the movement of the gripper according to the real-time grasping situation. The robot provides more information to improve the robot's grasping ability is the key to improving the robot's intelligent characteristics

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