CN112621798B - Robot paw - Google Patents
Robot paw Download PDFInfo
- Publication number
- CN112621798B CN112621798B CN202011415194.3A CN202011415194A CN112621798B CN 112621798 B CN112621798 B CN 112621798B CN 202011415194 A CN202011415194 A CN 202011415194A CN 112621798 B CN112621798 B CN 112621798B
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- Prior art keywords
- opening
- closing
- pressing
- rod
- driving
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a robot paw, comprising: the clamping jaw assembly is fixed on the mechanical arm and is driven to rotate by a rotation driving motor; the torque sensor is used for acquiring the rotary moment of the clamping jaw assembly; the opening and closing assembly is arranged on the clamping jaw assembly and driven to open and close through an opening and closing motor. The invention reduces the power consumption of the whole machine by arranging the opening and closing motor and the rotary motor in a rear way and connecting the actions in parallel, reduces the execution inertia of the tail end action, does not need to perform the space motion of the whole clamping jaw in the process of executing the button pressing by adding the micro button pressing mechanism and providing the tail end power for the pressing mechanism, and has smaller execution inertia of the pressing action, smaller power consumption and higher execution precision.
Description
Technical Field
The invention relates to the field of robot equipment, in particular to a robot paw.
Background
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 reliable operation of target objects such as single-turn/multi-turn knobs, micro buttons and the like, the multifunctional multi-degree-of-freedom robot gripper with torque sensing and micro visual angle monitoring is indispensable.
Utility model patent (CN207841370U) discloses a robot clamping jaw device and robot, the clamping jaw action is single and the little operational environment's of centre gripping action displacement volume limitation is great. The invention patent (CN108214534A) discloses a self-adaptive under-actuated robot clamping jaw which is complex in structure, large in structure size, high in assembly difficulty and incapable of operating a tiny button knob and the like.
Most of operation clamping jaws of robots disclosed at the present stage only have a simple clamping function and a single action, so that clamping and operation of tiny devices cannot be realized, and the operation lacks a visual closed loop, so that reliable operation of objects cannot be fundamentally ensured. The clamping jaw does not have the functions of multi-circle rotation and torque detection, and cannot reliably operate target operation objects requiring multi-circle rotation and objects with uncontrollable rotation torque. Meanwhile, the opening and closing and the rotation actions are connected in series, so that the whole structure is large, and the tail end actuating mechanism is heavy.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the defects, the invention provides the robot paw with the functions of moment sensing and micro-visual angle monitoring.
The technical scheme is as follows:
a robotic gripper comprising:
the clamping jaw assembly is fixed on the mechanical arm and is driven to rotate by a rotation driving motor;
the opening and closing component is arranged on the clamping jaw component and is driven to open and close by an opening and closing motor; the opening and closing assembly is provided with a pressing rod which advances and retreats along with the opening and closing of the opening and closing assembly.
The opening and closing assembly comprises an opening and closing bracket and a clamping finger rotary hinge arranged on the opening and closing bracket;
the clamping finger rotating hinge comprises two opening and closing clamping fingers which are symmetrically arranged on two sides of the opening and closing support, the front end of each opening and closing clamping finger is rotatably connected with an opening and closing auxiliary rod, and the opening and closing auxiliary rod is rotatably connected to the rear end of the side face of the opening and closing support; the middle part of the inner side of the opening and closing support is provided with a worm gear, wherein the worm is controlled to rotate by the opening and closing motor and keeps the same rotating speed as the clamping jaw assembly, and the worm gear is rotationally connected with the middle part of the opening and closing clamping finger by an opening and closing driving rod.
And the tail end of the opening and closing clamping finger is provided with a guide block extending outwards.
The opening and closing auxiliary rod is as long as the opening and closing driving rod, and the width of the opening and closing support is gradually reduced from the rear end to the front end.
The length of the opening and closing auxiliary rod is greater than that of the opening and closing driving rod.
A pressing driving strip is further slidably mounted on the opening and closing support, teeth are arranged on one side of the pressing driving strip, and a pressing gear meshed with the teeth of the pressing driving strip is fixed on the worm wheel on the side corresponding to the teeth of the pressing driving strip; the pressing rod is fixedly arranged at the tail end of the pressing driving strip.
A pressing driving strip is further slidably mounted on the opening and closing support, teeth are arranged on one side of the pressing driving strip, a pressing driving rod is rotatably connected to the middle of the opening and closing clamp on the side corresponding to the teeth of the pressing driving strip, and a pressing gear meshed with the teeth of the pressing driving strip is arranged at the tail end of the pressing driving rod; the pressing rod is fixedly arranged at the tail end of the pressing driving strip.
The pressing rod is a hollow rod, a pressing spring is arranged in the pressing rod, and the other end of the pressing spring is fixedly connected with the pressing driving strip.
And the tail end of the pressing rod is fixedly connected with a pressing glue for protecting the surface of the button.
And a torque sensor used for collecting the rotary moment of the clamping jaw assembly is connected with the clamping jaw assembly.
And a first monitoring camera for carrying out micro-visual angle real-time monitoring on the clamped object so as to determine whether the corresponding button mechanism on the clamped object is pressed in place by the pressing rod is fixedly arranged at the side of the clamping jaw assembly.
The clamping jaw assembly is fixed on the mechanical arm through a mounting bracket, and the rotary driving motor and the opening and closing motor are both fixedly mounted on the mounting bracket.
The mounting bracket is provided with a rotary gear through a rotating shaft, the rotary driving motor is arranged on the side of the rotary gear, and a rotary driving gear meshed with the rotary gear is fixedly arranged on a motor shaft of the rotary driving motor.
A rotary gear shell for protecting the rotary gear is arranged outside the rotary gear.
The opening and closing motor is fixedly arranged on the mounting bracket, and an opening and closing driving belt wheel is fixedly arranged on a motor shaft of the opening and closing motor; an opening and closing belt wheel is further rotatably mounted on the mounting bracket through a rotating shaft, and the opening and closing driving belt wheel is connected with the opening and closing belt wheel through a belt; the opening and closing assembly is fixedly connected with the opening and closing belt wheel through an opening and closing driving rod and is driven to open and close through the opening and closing belt wheel.
And a second monitoring camera used for carrying out micro-visual angle real-time monitoring on the clamped object so as to acquire whether the opening and closing assembly is clamped in place is fixedly arranged at the front end of the opening and closing driving rod.
The rotary gear is designed to be a hollow structure, and the opening and closing driving rod which is also designed to be hollow penetrates through the rotary gear; a camera mounting rod penetrates through the opening and closing driving rod, the camera mounting rod penetrates through the opening and closing driving rod and then is fixed on the mounting bracket, and the second monitoring camera is fixedly mounted at the tail end of the camera mounting rod; the second monitoring camera obtains the rotation angle of the clamped object through the relative rotation angle between the second monitoring camera and the clamped object.
And a visual camera for identifying the position information of the clamped object to perform space positioning is fixedly arranged on the mounting bracket.
Compared with the prior art, the invention has the following beneficial effects:
1. the opening and closing motor and the rotating motor are arranged at the rear and act in parallel, so that opening and closing movement is realized, multi-turn rotation is realized, the executing inertia of the tail end action is reduced, and the power consumption of the whole machine is reduced.
2. According to the invention, by adding the micro button pressing mechanism and providing the tail end power for the pressing mechanism, the spatial movement of the whole clamping jaw is not required in the process of executing the button pressing, the pressing action execution inertia is smaller, the power consumption is smaller, and the execution precision is higher.
3. The space positioning of the clamping jaw operation target is realized by adding the visual positioning camera; the micro-visual angle monitoring camera is added, the closed-loop of the tail end of the clamping jaw in opening and closing size and rotation angle is realized, and meanwhile, the monitoring of target state indication is realized to improve the safety and stability of the operation of the clamping jaw.
Drawings
FIG. 1 is an assembly view of a robot gripper of the present invention.
Figure 2 is a schematic view of a jaw assembly of the present invention.
Figure 3 is another angle schematic of the jaw assembly of the present invention.
FIG. 4 is a schematic view of the jaw opening and closing assembly of the present invention; wherein, (a) is the structure schematic diagram of the opening and closing assembly, and (b) is the internal structure diagram of the opening and closing assembly.
In the figure, 1, an installation bracket, 2, a vision camera, 3, a clamping jaw assembly, 4, a first monitoring camera, 5, an opening and closing assembly, 6, a torque sensor, 7, a rotary driving motor, 8, an opening and closing motor, 9, a slip ring, 10, an installation flange, 11, a second monitoring camera, 12, an opening and closing driving belt wheel, 13, a rotary driving gear, 14, a rotary gear, 15, a sensor bracket, 16, a fixed bracket, 17, a belt, 18, an opening and closing belt wheel, 19, an opening and closing bracket, 20, a clamping finger rotary hinge, 21, an opening and closing driving rod, 22, an opening and closing auxiliary rod, 23, an opening and closing clamping finger, 24, an opening and closing driving rod, 25, a pressing driving strip, 26, a pressing rod, 27, a pressing rubber pad, 28, a pressing driving rod and 29, an opening and closing worm driving rod.
Detailed Description
The invention is further elucidated with reference to the drawings and the embodiments.
FIG. 1 is an assembly view of a robot gripper of the present invention. As shown in fig. 1, the robot gripper with torque sensing and micro-viewing angle monitoring of the present invention includes a mounting bracket 1 and a gripper assembly 3 mounted on the mounting bracket 1, a vision camera 2 is fixedly mounted on the mounting bracket 1, and the vision camera 2 acquires position information of a clamped object, so as to provide spatial positioning for the movement of the robot gripper. The mounting bracket 1 is provided with a butt joint feature with a mechanical arm and is used for fixedly butt joint with the mechanical arm, the clamping jaw assembly 3 is fixedly mounted above the mounting bracket 1 through the mounting flange 10, the sensor bracket 15 is arranged at the position, located at the rear of the clamping jaw assembly 3, of the mounting bracket 1, the first monitoring camera 4 is arranged above the clamping jaw assembly 3, the rear end of the first monitoring camera 4 is fixedly mounted on the sensor bracket 15, and the first monitoring camera 4 is used for micro-visual angle real-time monitoring.
As shown in fig. 1 and 2, the clamping jaw assembly 3 comprises an opening and closing assembly 5, a torque sensor 6, a rotary driving motor 7, an opening and closing motor 8, a slip ring 9, an installation flange 10 and a rotary gear 14, wherein the installation flange 10 is fixedly installed at the upper end of the installation support 1 through bolts, a base is fixedly installed on the installation flange 10, the rotary gear 14 is installed on the base through a rotating shaft, and a rotary gear shell is arranged outside the rotary gear 14 and used for protecting the rotary gear 14; a rotary driving motor 7 is fixedly arranged on the mounting flange 10 at the side of the rotary gear 14, a rotary driving gear 13 is fixedly arranged on a motor shaft of the rotary driving motor 7, the rotary driving gear 13 is meshed with the rotary gear 14, and the rotary driving gear 13 is driven to rotate by the rotary driving motor 7 so as to drive the rotary gear 14 to rotate. The torque sensor 6 is fixedly connected with the rotary gear 14 through bolts and rotates along with the rotary gear 14; the opening and closing assembly 5 is fixedly installed at the tail end of the torque sensor 6, the opening and closing assembly rotation torque is monitored through the torque sensor 6, and the safety of rotation operation is guaranteed.
Slip ring 9 is connected with slewing gear 14 to rotate with slewing gear 14 synchronous, torque sensor 6's communication and power supply line set up in slip ring 9, through the transmission of slip ring 9, realize opening and shutting the multiturn gyration of subassembly 5 through such design, improved the adaptability of mechanical gripper.
The opening and closing assembly 5 comprises an opening and closing bracket 19, a clamping finger rotary hinge 20 and an opening and closing driving rod 21, an opening and closing motor 8 is fixedly arranged on the mounting flange 10 at the side of the clamping jaw assembly 3, and an opening and closing driving belt wheel 12 is fixedly arranged on a motor shaft of the opening and closing motor 8; an opening and closing belt wheel 18 is further rotatably mounted on the mounting flange 10 through a rotating shaft, the opening and closing driving belt wheel 12 is connected with the opening and closing belt wheel 18 through a belt 17, the opening and closing driving belt wheel 12 is driven to rotate through an opening and closing motor 8, and the opening and closing belt wheel 18 is driven to rotate through the belt 17; the rear end of the opening and closing driving rod 21 is fixedly connected with the opening and closing belt wheel 18 and can rotate along with the opening and closing belt wheel 18.
A vertical driving groove is arranged at the middle position in the opening and closing support 19, an opening and closing driving worm 29 is rotationally arranged in the driving groove, and the opening and closing driving worm 29 is fixedly connected with the front end of the opening and closing driving rod 21 and rotates along with the opening and closing driving rod 21. The clamping finger rotating hinge 20 comprises two opening and closing clamping fingers 23 which are symmetrically and obliquely arranged on two sides of the opening and closing support 19, the front ends of the opening and closing clamping fingers 23 are hinged with an opening and closing auxiliary rod 22, and the opening and closing auxiliary rod 22 is hinged at the rear position of the side surface of the opening and closing support 19; the tail end of the opening and closing clamping finger 23 is provided with a guide block extending outwards. An opening and closing drive rod 24 is hinged in the middle of the opening and closing clamping finger 23, and the tail end of the opening and closing drive rod 24 is connected with a turbine which is meshed and matched with an opening and closing drive worm 29.
In the present invention, the length of the opening-closing auxiliary rod 22 is the same as that of the opening-closing driving rod 24, and the width of the opening-closing bracket 19 is gradually reduced from the rear end to the front end, so that the hinge point of the opening-closing auxiliary rod 22 and the opening-closing bracket 19 is located at the outer side of the turbine at the tail end of the opening-closing driving rod 24, thereby the tail end of the opening-closing clamping finger 23 is inclined inwards. In another embodiment of the present invention, the length of the opening and closing auxiliary lever 22 is greater than the length of the opening and closing driving lever 24.
A pressing driving bar 25 is further slidably mounted in the middle of the opening and closing support 19, a rack is arranged on one side of the pressing driving bar 25, a pressing driving rod 28 is further hinged in the middle of the opening and closing clamping finger 23 on the side corresponding to the rack of the pressing driving bar 25, and the pressing driving rod 28 can be hinged with the opening and closing clamping finger 23 together with the opening and closing driving rod 24; a pressing gear engaged with the rack of the pressing driving bar 25 is provided at the end of the pressing driving rod 28; the pressing driving rod 28 moves along with the opening and closing clamping finger 23, so that the pressing gear at the tail end of the pressing driving rod is driven to move up and down, and the pressing driving strip 25 meshed with the pressing driving rod is driven to slide up and down. A pressing rod 26 is fixedly arranged at the tail end of the pressing driving strip 25, and a pressing glue 27 for protecting the surface of the tiny button is fixedly connected at the tail end of the pressing rod 26; the pressing rod 26 is a hollow rod, a pressing spring is arranged in the hollow rod, the other end of the pressing spring is fixedly connected with the pressing driving strip 25, the pressing driving strip 25 provides prepressing holding force for the pressing rod 26 through the pressing spring, the holding force needs to be larger than the pressing pressure value of the button, and the working stroke of the spring realizes protection of a target button mechanism.
In the present invention, the first monitoring camera 4 faces to the screen or the indicator light of the clamped object, and is used for performing micro-view real-time monitoring on the clamped object, so as to obtain feedback information after the pressing rod 26 presses the corresponding button mechanism on the clamped object, and determine whether the clamped object is pressed in place.
In the present invention, a pressing gear may be fixedly connected to the worm wheel side of the end of the opening/closing driving rod 24 to engage with the rack of the pressing driving bar 25.
In the invention, the rotary gear 14 is designed into a hollow structure, and the opening and closing driving rod 21 penetrates through the rotary gear 14; in the invention, the opening and closing driving rod 21 is also designed to be a hollow structure, a camera mounting rod is arranged in the opening and closing driving rod 21 in a penetrating manner, the camera mounting rod passes through the opening and closing driving rod 21 and then is fixed on the fixing support 15 on the mounting support 1, and the tail end of the camera mounting rod is fixedly provided with the second monitoring camera 11, namely the second monitoring camera 11 is positioned at the tail end of the opening and closing driving rod 21; the second monitoring camera 11 is fixed on the fixed support 15 through the camera mounting rod, so when the opening and closing assembly 5 performs rotary motion, the second monitoring camera 11 and the opening and closing assembly 5 rotate relatively, and then the second monitoring camera 11 and the clamped object also rotate relatively, so that the second monitoring camera 11 can perform micro-visual angle real-time monitoring on the clamped object of the opening and closing assembly 5, not only can monitor whether the clamped object is clamped in place by the clamping assembly 5, but also can obtain the rotation angle of the clamped object through the relative rotation angle of the second monitoring camera 11 and the clamped object. Although the invention can calculate the rotation angle of the clamped object by obtaining the rotation angle of the opening and closing assembly 5 through the rotation angle of the motor shaft of the rotary motor, because the opening and closing assembly 5 has the problems of improper clamping or improper clamping angle, the rotation angle of the clamped object calculated through the rotation angle of the motor shaft of the rotary motor has errors, and the rotation angle of the clamped object obtained through the relative rotation angle of the second monitoring camera 11 and the clamped object is very accurate.
The opening and closing assembly 5 is fixedly connected with a rotary gear 14 through a torque sensor 6 and can integrally rotate relative to the mounting flange 10 (namely the mounting bracket 1) to realize the rotation action of the clamping jaw, and simultaneously, the torque detection of the rotation of the clamping jaw and the closed loop of the rotation torque are realized through the torque sensor 6; the communication and power supply lines of the torque sensor 6 are transmitted through a slip ring 9. The clamping finger rotating hinge 20 is matched with the opening and closing driving worm 29 to realize worm gear and worm transmission, so that the power of the opening and closing motor 8 is transmitted to the opening and closing assembly 5, the symmetrical translation of the opening and closing clamping fingers 23 on two sides is realized, and the opening and closing action of the opening and closing clamping fingers 23 is completed. The invention adopts the worm gear and worm transmission and the symmetrical four-bar linkage mechanism and is linked with the button pressing mechanism, thereby reducing power components, and reducing the structural size and the overall weight.
Because the rotary driving motor 7 and the opening and closing motor 8 are fixed on the mounting flange 10, the opening and closing movement and the rotary movement of the opening and closing assembly 5 realize parallel transmission. In order to ensure that the clamping size of the opening and closing clamping fingers 23 is not changed in the rotation process of the opening and closing assembly 5, the opening and closing driving worm 29 needs to keep the same rotation speed as that of the opening and closing support 19.
The invention realizes micro-visual angle monitoring and visual closed loop in the operation process by arranging the visual camera 2, the first monitoring camera 4 and the second monitoring camera 11. When the opening and closing component 5 executes an opening and closing and rotating command, the second monitoring camera 11 is fixed, and the visual angle of the second monitoring camera does not move relative to the mounting flange 10, so that the center positioning, the rotation angle monitoring and the opening and closing size monitoring of the opening and closing component 5 are realized. Because partial operation needs to be realized by a state indicator lamp near a target operation object, the installation positions and the view angle of the cameras are interfered, and the effective visual closed loop cannot be realized.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the foregoing embodiments, and various equivalent changes (such as number, shape, position, etc.) may be made to the technical solution of the present invention within the technical spirit of the present invention, and these equivalent changes are all within the protection scope of the present invention.
Claims (12)
1. A robot gripper, its characterized in that: the method comprises the following steps:
the clamping jaw assembly is fixed on the mechanical arm and is driven to rotate by a rotation driving motor;
the opening and closing assembly is arranged on the clamping jaw assembly and is driven to open and close through an opening and closing motor; the opening and closing component is provided with a pressing rod which moves forward and backward along with the opening and closing of the opening and closing component;
the opening and closing assembly comprises an opening and closing bracket and a clamping finger rotary hinge arranged on the opening and closing bracket;
the clamping finger rotating hinge comprises two opening and closing clamping fingers which are symmetrically arranged on two sides of the opening and closing support, the rear ends of the opening and closing clamping fingers are rotatably connected with an opening and closing auxiliary rod, and the opening and closing auxiliary rod is rotatably connected with the rear end of the side face of the opening and closing support; the middle part of the inner side of the opening and closing bracket is provided with a worm gear, wherein the worm is controlled to rotate by the opening and closing motor and keeps the same rotating speed as the clamping jaw assembly, and the worm gear is rotationally connected with the middle part of the opening and closing clamping finger by an opening and closing driving rod;
a first monitoring camera for carrying out micro-visual angle real-time monitoring on the clamped object so as to determine whether the pressing rod presses the corresponding button mechanism on the clamped object in place is fixedly arranged on the clamping jaw assembly side;
the clamping jaw assembly is fixed on the mechanical arm through a mounting bracket, and the rotary driving motor and the opening and closing motor are both fixedly mounted on the mounting bracket;
an opening and closing driving belt wheel is fixedly arranged on a motor shaft of the opening and closing motor; an opening and closing belt wheel is further rotatably mounted on the mounting bracket through a rotating shaft, and the opening and closing driving belt wheel is connected with the opening and closing belt wheel through a belt; the opening and closing assembly is fixedly connected with the opening and closing belt wheel through an opening and closing driving rod and is driven to open and close through the opening and closing belt wheel;
a second monitoring camera for carrying out micro-visual angle real-time monitoring on a clamped object to acquire whether the opening and closing assembly is clamped in place is arranged at the front end of the opening and closing driving rod;
a rotary gear is mounted on the mounting bracket through a rotating shaft, the rotary gear is designed to be of a hollow structure, and the opening and closing driving rod which is also designed to be hollow penetrates through the rotary gear; a camera mounting rod penetrates through the opening and closing driving rod, the camera mounting rod penetrates through the opening and closing driving rod and then is fixed on the mounting bracket, and the second monitoring camera is fixedly mounted at the tail end of the camera mounting rod; the second monitoring camera obtains the rotation angle of the clamped object through the relative rotation angle between the second monitoring camera and the clamped object.
2. The robotic gripper of claim 1, wherein: the front end of the opening and closing clamping finger is provided with a guide block extending outwards.
3. The robotic gripper of claim 1, wherein: the opening and closing auxiliary rod is as long as the opening and closing driving rod, and the width of the opening and closing support is gradually reduced from the rear end to the front end.
4. The robotic gripper of claim 1, wherein: the length of the opening and closing auxiliary rod is greater than that of the opening and closing driving rod.
5. The robotic gripper of claim 1, wherein: a pressing driving strip is further slidably mounted on the opening and closing support, teeth are arranged on one side of the pressing driving strip, and a pressing gear meshed with the teeth of the pressing driving strip is fixed on a worm wheel on the side corresponding to the teeth of the pressing driving strip; the pressing rod is fixedly arranged at the tail end of the pressing driving strip.
6. The robotic gripper of claim 1, wherein: a pressing driving strip is further slidably mounted on the opening and closing support, teeth are arranged on one side of the pressing driving strip, a pressing driving rod is rotatably connected to the middle of the opening and closing clamp on the side corresponding to the teeth of the pressing driving strip, and a pressing gear meshed with the teeth of the pressing driving strip is arranged at the tail end of the pressing driving rod; the pressing rod is fixedly arranged at the tail end of the pressing driving strip.
7. The robotic gripper of claim 5 or 6, wherein: the pressing rod is a hollow rod, a pressing spring is arranged in the pressing rod, and the other end of the pressing spring is fixedly connected with the pressing driving strip.
8. The robotic gripper of claim 1, wherein: and the tail end of the pressing rod is fixedly connected with a pressing glue for protecting the surface of the button.
9. The robotic gripper of claim 1, wherein: and a torque sensor used for collecting the rotary moment of the clamping jaw assembly is connected with the clamping jaw assembly.
10. The robotic gripper of claim 1, wherein: the rotary driving motor is arranged on the side of the rotary gear, and a rotary driving gear meshed with the rotary gear is fixedly arranged on a motor shaft of the rotary driving motor.
11. The robotic gripper of claim 10, wherein: a rotary gear shell for protecting the rotary gear is arranged outside the rotary gear.
12. The robotic gripper of claim 1, wherein: and a visual camera for identifying the position information of the clamped object to perform space positioning is fixedly arranged on the mounting bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011415194.3A CN112621798B (en) | 2020-12-03 | 2020-12-03 | Robot paw |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011415194.3A CN112621798B (en) | 2020-12-03 | 2020-12-03 | Robot paw |
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| Publication Number | Publication Date |
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| CN112621798A CN112621798A (en) | 2021-04-09 |
| CN112621798B true CN112621798B (en) | 2022-09-20 |
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| CN202011415194.3A Active CN112621798B (en) | 2020-12-03 | 2020-12-03 | Robot paw |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113478516B (en) * | 2021-06-03 | 2022-06-14 | 北京思灵机器人科技有限责任公司 | Clamping jaw device and file grabbing equipment |
| CN114714386A (en) * | 2022-03-23 | 2022-07-08 | 深圳昱拓智能有限公司 | Cubical switchboard is patrolled and examined operation robot clamping jaw mechanism and is patrolled and examined operation robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4611846A (en) * | 1984-10-23 | 1986-09-16 | Amp Incorporated | Gripper head |
| CN206703052U (en) * | 2017-05-15 | 2017-12-05 | 南安建金工业设计有限公司 | A kind of industrial robot grips fixture with nut |
| CN109605415A (en) * | 2018-12-28 | 2019-04-12 | 国家电网有限公司 | Gripper and robot |
| CN209699131U (en) * | 2019-02-12 | 2019-11-29 | 永康市杰地希机器人科技有限公司 | A kind of doorframe processing clamp hand |
| CN109849041A (en) * | 2019-03-28 | 2019-06-07 | 杭州宇控机电工程有限公司 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
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