CN113635287B - Flexible mechanical claw for teaching mechanical arm - Google Patents

Abstract

The invention discloses a flexible mechanical claw used for teaching mechanical arms, and belongs to the field of mechanical claws. The main part includes a fin-shaped flexible claw head, a claw head mounting base, a transverse movement module, a longitudinal movement module and a synchronous drive module. The fin-shaped flexible claw head adopts a fin-shaped flexible structure. The overall mechanical claw can be driven by a motor in both horizontal and vertical directions. The sliding gear is used to realize the functions of tightening and relaxing each group of mechanical claws at the same time, and the torsion spring is used for passive adaptive rotation. This enables adaptive capture of multiple categories of objects. The overall structure of the invention gives full play to the structural characteristics of the fin effect, has strong adaptability, good object enveloping effect, no damage to the caught object, and other advantages, and has strong practicability.

Description

A flexible mechanical claw for teaching robotic arms

Technical field

The invention belongs to the field of mechanical claws, and specifically relates to a flexible mechanical claw used for teaching robotic arms.

Background technique

Flexible mechanical claws have huge development potential, and claw structures designed to simulate the "fin" effect have emerged. The mechanical structure is mainly composed of a rotary pair, a rigid support rod and a flexible surface. Due to the existence of the intermediate rigid connecting rod, this structure can withstand a larger load than other flexible structures.

The fin structure has passive compliance, that is, it does not require external driving and can passively form an envelope after receiving external forces based on its own structural characteristics. Compared with sponges, air cushions, etc. due to the envelope effect of surface compliance, it has The structural flexibility makes its enveloping effect better. However, the structures of existing flexible mechanical claws are usually complex and lack adaptability and utilization of under-actuated characteristics.

Contents of the invention

The purpose of the present invention is to solve the problems existing in the prior art and to maximize the adaptability and under-driving characteristics of flexible grasping. The present invention also provides a flexible mechanical claw for teaching robotic arms. The present invention only moves , a mechanical claw that can achieve good grabbing effects without turning. Give full play to the adaptability of the flexible claw and can grasp a wide range of target objects.

The technical solutions specifically adopted by the present invention are as follows:

A flexible mechanical claw for teaching robotic arms, which includes a fin-shaped flexible claw head, a claw head mounting base, a transverse movement module, a longitudinal movement module and a synchronous drive module;

The longitudinal movement module includes two sets of longitudinal driving mechanisms. Each set of longitudinal driving mechanisms includes a guide rail, a second bevel gear, a positive and negative screw and a slide block. The two slide blocks are installed on the guide rail to form a sliding pair, and the positive and negative The threaded screw is installed on the guide rail and passes through the internal threaded holes in the two slide blocks, so that the two slide blocks and the front and back thread screws respectively form a threaded screw pair that moves in the opposite direction; the second bevel gear is installed on the front and back thread screws. Ends;

The synchronous drive module includes a transmission shaft and a first bevel gear. The two first bevel gears are coaxially installed on the transmission shaft in the form of a sliding pair; the positive and negative thread screws of the two sets of longitudinal drive mechanisms respectively pass through the second end. The bevel gear and the two first bevel gears form a transmission, and each set of longitudinal driving mechanisms is connected to the corresponding driven first bevel gear through a connecting piece and moves laterally synchronously; the transmission shaft is driven and rotated by an external driving mechanism, thereby driving each The slider on the positive and negative thread screw moves longitudinally;

The transverse movement module includes a worm, a rack, a turbine and a transmission gear. The worm is driven to rotate by an external driving mechanism. The turbine and the worm form a transmission fit. The transmission gear and the turbine are coaxially connected and fixed. The two racks are respectively formed with the transmission gear. Two sets of reversely moving gear and rack pairs; the two racks are respectively connected and fixed with the guide rails in a set of longitudinal driving mechanisms, so that the two sets of longitudinal driving mechanisms can move in reverse directions driven by the transverse movement module;

Each slider is connected to a claw head mounting base through a torsion mechanism. A fin-shaped flexible claw head is installed on the claw head mounting base. The torsion mechanism has the freedom of axial torsion to make the fin-shaped flexible claw head. The claw head can rotate to fit the irregular object surface after being subjected to axial torque.

Preferably, the fin-shaped flexible claw head is a bionic flexible claw head based on the fin-shaped effect.

Preferably, the fin-shaped flexible claw head is used to maintain verticality with the side surface of the object to be grasped without being affected by external force.

Preferably, the fin-shaped flexible claw head forms a four-claw structure and can be divided into two groups for movement in the transverse and longitudinal directions, and the movements of the two groups do not interfere with each other.

Preferably, the torsion mechanism includes a coaxially arranged torsion spring and a connecting bolt. The two free ends of the torsion spring are respectively connected to the claw head mounting base and the slide block. The enlarged head of the connecting bolt is fixed on the On the slide block, the connecting bolt has the freedom to rotate around the axis but not to move along the axial direction. The threaded end of the connecting bolt is screwed into the claw head mounting base and fixed.

Furthermore, the claw head mounting base is provided with a clamping slot and a spring mounting hole. The spring mounting hole is used to connect the torsion spring, and the clamping slot is used to clamp the rigid connector on the fin-shaped flexible claw head. .

Preferably, the transmission shaft adopts a rectangular spline shaft.

Preferably, the fin-shaped flexible claw head is detachably mounted on the claw head mounting base.

Preferably, the flexible mechanical claw is integrally installed on the housing, and a motor for driving the worm and the transmission shaft is installed in the housing.

Preferably, the two ends of the transmission shaft are provided with retaining rings to prevent the two first bevel gears from derailing.

Compared with the prior art, the present invention has the following beneficial effects:

1) The present invention uses a fin-shaped flexible claw head as a grasping mechanism. By adopting the physical structure of the fin-shaped effect, the claw head can fit the curved surface of the object without causing physical damage. At the same time, it can realize the construction of an under-actuated hand grasp, thus Good gripping is achieved by moving only laterally, without turning.

2) The mechanical claw device adopts a four-claw structure as a whole, which can be divided into two groups for movement in the up, down, and left and right directions, and the movements of the two groups do not interfere with each other. The overall mechanical claw has the ability to move freely in both horizontal and vertical axes, and can move relatively freely in a plane for grabbing. This structure of claw head distribution within the plane can maximize the effect of the claw heads, and can also There is a larger selection range of crawling objects.

3) The fin-shaped flexible claw head of the present invention is connected and installed through a twisting mechanism, so it has a passive rotation design and can rotate relative to itself to fit the target. In the part where the claw head rotates, a torsion spring is used to connect the claw head bracket and the bottom fixed part. When the finger contacts the surface of the object, the torsion spring is forced to rotate, driving the angle of the claw head and the bracket to change, so that the finger fits The irregular object surface introduces such a passive adaptive rotational freedom, allowing the claw head to fit more closely to the object.

4) In the present invention, transmission is performed by installing a bevel gear that can slide along the axial direction on the transmission shaft. Therefore, when the mechanical claws move, the same group of mechanical claws can move synchronously through the sliding gear.

5) The claw head installation base of the present invention adopts a detachable fixing method with the gripper head. Different types of claw heads can be directly inserted into the base through the rigid connector at the bottom, thereby realizing the function of convenient replacement of the claw heads. For different types of claw heads, The clamping target of the model can be designed with replaceable claw heads. At the same time, the claw fixation part has a certain slope to ensure that the edge of the flexible material is vertical.

Description of drawings

Figure 1 is a top view of a flexible mechanical claw;

Figure 2 is a schematic side view of a flexible mechanical claw;

Figure 3 is a schematic diagram of a set of longitudinal driving mechanisms;

Figure 4 is a schematic diagram of the synchronous drive module;

Figure 5 is a schematic diagram of the lateral movement module;

Figure 6 is a schematic diagram of the claw head mounting base.

The reference numbers in the figure are: fin-shaped flexible claw head 1, guide rail 2, worm 3, rack 4, turbine 5, transmission shaft 6 claw head mounting base 7, first bevel gear 8, second bevel gear 9, torsion mechanism 10. Positive and negative thread screw 11, transmission gear 12, slider 13, connector 14, housing 15, card slot 701, and torsion spring mounting hole 702.

Detailed ways

In order to make the above objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the invention. However, the present invention can be implemented in many other ways different from those described here. Those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The technical features in various embodiments of the present invention can be combined accordingly as long as they do not conflict with each other.

In the description of the present invention, it will be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element or indirectly connected through the presence of intervening elements. In contrast, when an element is said to be "directly" connected to another element, there are no intervening elements present.

In the description of the present invention, it should be understood that the terms "first" and "second" are only used for distinction and description purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. . Therefore, features defined as "first" and "second" may explicitly or implicitly include at least one of these features.

Referring to Figures 1 and 2, in a preferred embodiment of the present invention, a flexible mechanical claw for a teaching robotic arm is provided. The flexible mechanical claw is used for teaching demonstration purposes. The flexible mechanical claw includes a fin-shaped flexible claw head 1, a claw head mounting base 7, a transverse movement module, a longitudinal movement module and a synchronous drive module.

It should be noted that the longitudinal and transverse directions in the present invention are relative to the moving plane of the mechanical claw. In the moving plane, the mechanical claw can move in two orthogonal directions, one of which is the horizontal direction and the other. One direction of movement is considered longitudinal. In this embodiment, the horizontal direction in Figure 1 is the transverse direction, and the vertical direction in Figure 1 is the longitudinal direction.

In this embodiment, there are four fin-shaped flexible claw heads 1 , forming a four-claw structure, which can be divided into two groups for movement laterally and longitudinally, and the movements of the two groups do not interfere with each other. This movement is achieved through the cooperation of the transverse movement module, the longitudinal movement module and the synchronous drive module. The specific structure and action form of the transverse movement module, the longitudinal movement module and the synchronous drive module are described in detail below.

Among them, the function of the longitudinal movement module is to realize that the two sets of fin-shaped flexible claw heads 1 are close to each other in the longitudinal direction, so that objects of different lengths can be grasped.

The longitudinal movement module includes two sets of longitudinal driving mechanisms, and each set of longitudinal movement modules is used to drive a set of fin-shaped flexible claw heads 1. As shown in Figure 3, each set of longitudinal driving mechanisms includes a linear guide rail 2, a second bevel gear 9, a front and back screw 11 and a slider 13. The two sliders 13 are installed on the guide rail 2 to form a sliding pair, and the front and back The thread screw 11 is installed on the guide rail 2 and passes through the internal thread holes in the two slide blocks 13, and the two slide blocks 13 cooperate with the two sections of threads of the front and back thread screw 11 in opposite directions, so that the two slide blocks 13 cooperate with each other. The slide block 13 forms a threaded screw pair that moves in opposite directions with the front and back thread screws 11 respectively. When the front and back thread screws 11 rotate, the two slide blocks 13 can approach or move away from each other along the guide rail 2 . A second bevel gear 9 is installed at the end of the front and back thread screw 11 for connecting to an external driving mechanism. Therefore, in this longitudinal movement module, the rotary motion is converted into linear motion by using a sliding screw transmission composed of a positive and negative thread screw 11, a slider 13, etc., which has the advantages of simple structure, convenient processing, stable operation and no noise, and can realize Self-locking and other features. In addition, in order to support the front and back thread screws 11, rolling bearings can be installed at both ends of the front and back thread screws 11. The bearings are positioned using shaft shoulders, and are equipped with couplings and shafts connected to external driving mechanisms.

In addition, the synchronous drive module of this embodiment is mainly used to realize synchronous movement with different center distances caused by lateral movement during longitudinal movement. Because in this mechanical claw, the distance between the two screws is constantly changing due to the lateral movement. As shown in Figure 3, the synchronous drive module includes a transmission shaft 6 and a first bevel gear 8. The two first bevel gears 8 are coaxially installed on the transmission shaft 6 in the form of a sliding pair. The positive and negative thread screws 11 of the two sets of longitudinal driving mechanisms are respectively driven by a second bevel gear 9 and two first bevel gears 8 at the end. Each second bevel gear 9 is connected to one and only one first bevel gear. 8 are paired to form a rotary mechanism that drives the positive and negative thread screws 11 to rotate. Moreover, since there will be lateral movement between the two sets of longitudinal driving mechanisms, in order to ensure that the second bevel gear 9 and the first bevel gear 8 can always mesh and transmit, each set of longitudinal driving mechanisms is connected to the corresponding driven third through the connecting piece 14. A bevel gear 8 is connected and moves laterally synchronously. As shown in Figure 4, the connector 14 in this embodiment adopts an arc-shaped rigid connector with fixed ends at both ends. The two second bevel gears 9 can move in the axial direction on the transmission shaft 6 and rotate synchronously with the transmission shaft 6. The transmission shaft 6 itself can be driven and rotated by an external driving mechanism, thereby driving the sliders on each positive and negative thread screw 11. Block 13 moves longitudinally. In this synchronous drive module, the sliding bevel gear structure is used to achieve synchronization. In this synchronous drive module, by selecting two sliding bevel gears and installing them on the spline shaft, they are used to transmit the rotary motion between the two intersecting shafts, which can realize the longitudinal movement from the spline shaft to the screw. Rotary motion transmission. The transmission shaft 6 is preferably a rectangular spline shaft. The spline connection has a higher load-bearing capacity than the flat key connection, has less weakening of the shaft, and has good centering and guiding properties. It is suitable for connections with high centering accuracy requirements and frequent slippage. In addition, retaining rings can be added at both ends of the transmission shaft 6 to prevent the bevel gear from derailing. In actual design, in order to support the spline shaft, rolling bearings can be equipped at both ends of the spline shaft, and the bearings are positioned using shaft shoulders; through the fork sliding gear, the different center distances caused by lateral movement during longitudinal movement can be realized Synchronized movement.

The function of the lateral movement module is to complete the relative movement of the two sets of fin-shaped flexible claw heads 1 along the lateral direction. At the same time, it is hoped that it can be self-locking. It is necessary that the whole movement can be basically completed on a plane to avoid conflicts with other module parts. As shown in Figure 5, the transverse movement module includes a worm 3, a rack 4, a worm 5 and a transmission gear 12. The worm 3 is driven to rotate by an external driving mechanism. The worm 5 and the worm 3 form a transmission cooperation. The transmission gear 12 and the worm 5 pass through One connecting shaft is coaxially connected and fixed, and the two racks 4 and the transmission gear 12 form two sets of gear rack pairs that move synchronously in opposite directions. The two racks 4 are respectively connected and fixed with the guide rails 2 in a set of longitudinal driving mechanisms, so that the two sets of longitudinal driving mechanisms can move synchronously and reversely under the drive of the transverse movement module. The lateral movement module is completed by using a gear rack and pinion transmission. The rack is fixed in two directions by relying on the guide rail. At the same time, a worm gear pair is added to the input end to achieve a self-locking function, so that it is convenient to clamp objects without continuous input. Can be fixed. When working as a whole, the external motor can input rotation to the worm 3, driving the turbine 5 to rotate, and driving the transmission gear 12 to rotate through the connecting shaft. The transmission gear 12 simultaneously drives the two racks 4 to move toward each other in one direction, thereby achieving the goal.

Therefore, through the cooperation of the transverse movement module, the longitudinal movement module and the synchronous drive module, the four slide blocks 13 on the two positive and negative thread screws 11 can be controlled in both transverse and longitudinal directions. In this embodiment, the final The movable plane range is approximately a square with a side length of 200mm. Each slider 13 is connected to a claw head mounting base 7 through a torsion mechanism 10. A fin-shaped flexible claw head 1 is installed on the claw head mounting base 7, which can drive four fin-shaped flexible claw heads 1 to achieve plane alignment. Capture function of internal target objects. The above-mentioned twisting mechanism 10 has the freedom of axial twisting. While playing a connecting role, the fin-shaped flexible claw head 1 can rotate to fit irregular object surfaces after being subjected to axial torque.

In this embodiment, the fin-shaped flexible claw head 1 is a bionic flexible claw head based on the fin-shaped effect. Referring to Figure 1, the fin-shaped flexible claw head 1 is designed to use a rigid support frame with flexible materials as the sides and multiple intervals in the middle. The rigid support frame is connected to both sides in the form of a rotary pair. The hand The claw structure can simulate the "fish fin" effect for object grabbing. In actual production, a round hole is designed on the inner wall of the flexible side for connection with the rigid support frame. The flexible side wall can be directly formed using 3D printing of flexible materials.

In addition, the flexible mechanical claw in the present invention is used for teaching purposes, and different claw heads need to be replaced to realize the demonstration of different functions. Therefore, in order to facilitate the detachable installation of the fin-shaped flexible claw head 1, the claw head mounting base 7 shown in Figure 6 can be used. The claw head mounting base 7 is a block in an approximately trapezoidal form, with a slot provided on it. 701 and spring mounting hole 702, the spring mounting hole 702 is used to connect the torsion spring, and the slot 701 is used to clamp the rigid support frame on the fin-shaped flexible claw head 1. The base is designed to fix the bottommost rigid support frame of the fin-shaped flexible claw head 1 through the slot 701. The rigid support frame at the bottom of the claw heads of different models can be directly inserted into the base, thereby realizing the function of conveniently replacing the claw heads. At the same time, the fixation point of the claw head mounting base 7 also maintains a certain inclination angle, so that after the installation of the fin-shaped flexible claw head 1 is completed, the side of the fin-shaped flexible claw head 1 used to fit with the object to be grasped remains vertical without being affected by external force. , so that it has a good crawling effect. Of course, the fin-shaped flexible claw head 1 can also be connected and fixed with the slot 701 through other rigid connectors.

In addition, the torsion mechanism 10 in the present invention can be implemented in various forms, and generally can adopt a torsion spring structure. In a preferred embodiment, the torsion mechanism 10 includes a coaxially arranged torsion spring and connecting bolts. The two free ends of the torsion spring are connected to the claw head mounting base 7 and the slider 13 respectively. The bottom of the slider 13 can be provided with a hollow screw cap that can be unscrewed. The hollow screw cap has internal threads, and a section of protruding external threads is provided at the bottom of the slider 13 so that the hollow screw cap can be screwed on the bottom of the slider 13 . The end of the hollow screw cap is provided with a through hole for the connecting bolt to pass through, but the diameter of the through hole should be smaller than the enlarged head of the connecting bolt. Thus, the hollow screw cap can be unscrewed first, and then the connecting bolt is passed through the through hole, while the enlarged head is left in the screw cap, and then the screw cap can be screwed on again, so that the connecting bolt is fixed on the slider 13 through the screw cap. , at this time the connecting bolt has the freedom to rotate around the axis but has no freedom to move along the axis. In addition, the threaded end of the connecting bolt is screwed into the claw head mounting base 7 and fixed, and the fin-shaped flexible claw head 1 is installed on the claw head mounting base 7, so that the fin-shaped flexible claw head 1 can receive the driving force of the slider 13 and synchronize While moving, it can also have a certain degree of freedom in twisting. This torsional degree of freedom is axial torsion about the torsion spring and connecting bolt. In the process of actually grabbing an object, the mechanical claw may need to rotate a certain angle around its own axis to better fit the object surface. Therefore, a torsion spring is added between the claw head base and the slider to allow the mechanical claw to If the head is subjected to a certain torque when it contacts the surface of the object, the torsion spring can be forced to rotate, causing the inclination angle of the claw head and the bracket to change. Therefore, the introduction of such a passive adaptive rotational freedom allows the claw head to better fit irregular objects. In addition, two baffles are added to the front end of the spring. The entire spring mechanism is mainly used to maintain the claw in the initial centering position when there is no external force or only a small external force.

It should be noted that the connection between the slider 13 and the torsion mechanism 10 may be a direct connection or an indirect connection. If indirect connection is used, a slider base can be provided at the bottom of the slider 13 , the torsion mechanism 10 is connected to the slider base, and the slider base is connected to the slider 13 .

In addition, the flexible mechanical claw in this embodiment can be integrally installed on the housing 15, and the motor driving the worm 3 and the transmission shaft 6 is installed in the housing 15, while the fin-shaped flexible claw head 1 needs to extend out of the housing 15 .

The above-described embodiment is only a preferred solution of the present invention, but it is not intended to limit the present invention. Those of ordinary skill in the relevant technical fields can also make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, any technical solution obtained by adopting equivalent substitution or equivalent transformation shall fall within the protection scope of the present invention.

Claims (10)

1. The flexible mechanical claw for the teaching mechanical arm is characterized by comprising a fin-shaped flexible claw head (1), a claw head mounting base (7), a transverse moving module, a longitudinal moving module and a synchronous driving module;

the longitudinal moving module comprises two groups of longitudinal driving mechanisms, each group of longitudinal driving mechanism comprises a guide rail (2), a second bevel gear (9), a positive and negative screw rod (11) and sliding blocks (13), the two sliding blocks (13) are arranged on the guide rail (2) to form sliding pairs, and the positive and negative screw rods (11) are arranged on the guide rail (2) and penetrate through internal threaded holes in the two sliding blocks (13) to enable the two sliding blocks (13) and the positive and negative screw rods (11) to form screw rod pairs moving reversely; the second bevel gear (9) is arranged at the end part of the positive and negative tooth screw rod (11);

the synchronous driving module comprises a transmission shaft (6) and first bevel gears (8), and the two first bevel gears (8) are coaxially arranged on the transmission shaft (6) in a sliding pair mode; the positive and negative tooth screw rods (11) of the two groups of longitudinal driving mechanisms respectively form transmission with the two first bevel gears (8) through second bevel gears (9) at the end parts, and each group of longitudinal driving mechanisms is connected with the corresponding driven first bevel gear (8) through a connecting piece (14) and synchronously moves transversely; the transmission shaft (6) is driven to rotate by an external driving mechanism, so that a sliding block (13) on each positive and negative tooth screw rod (11) is driven to longitudinally move;

the transverse moving module comprises a worm (3), racks (4), a worm wheel (5) and a transmission gear (12), wherein the worm (3) is driven to rotate by an external driving mechanism, the worm wheel (5) and the worm (3) form transmission fit, the transmission gear (12) is coaxially connected and fixed with the worm wheel (5), and two racks (4) and the transmission gear (12) form two groups of gear-rack pairs which move reversely; the two racks (4) are respectively connected and fixed with the guide rail (2) in one group of longitudinal driving mechanisms, so that the two groups of longitudinal driving mechanisms can reversely move transversely under the drive of the transverse moving module;

each sliding block (13) is connected with a claw head installation base (7) through a torsion mechanism (10), a fin-shaped flexible claw head (1) is installed on the claw head installation base (7), the torsion mechanism (10) has axial torsion freedom degree, and the fin-shaped flexible claw head (1) can be attached to the surface of an irregular object through rotation after receiving axial torsion.

2. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the fin-shaped flexible gripper head (1) is a bionic flexible gripper head based on a fin-shaped effect.

3. Flexible gripper for teaching robot arm according to claim 1, characterized in that the fin-shaped flexible gripper head (1) is adapted to remain perpendicular to the side surface of the object to be gripped against which it is attached, without external forces.

4. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the fin-shaped flexible gripper head (1) forms a four-jaw structure, which can be divided into two groups in the transverse and longitudinal directions for movement, respectively, without the two groups of movements interfering with each other.

5. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the torsion mechanism (10) comprises a coaxially arranged torsion spring and a connecting bolt, the two free ends of the torsion spring being connected to the gripper head mounting base (7) and the slider (13), respectively, the enlarged head of the connecting bolt being fixed to the slider (13) by means of a screw cap, the connecting bolt having a degree of freedom of rotation around the axis but no degree of freedom of movement along the axis, the threaded end of the connecting bolt being screwed into the gripper head mounting base (7) for fixation.

6. The flexible mechanical gripper for a teaching mechanical arm according to claim 5, characterized in that a clamping groove (701) and a spring mounting hole (702) are arranged on the gripper head mounting base (7), the spring mounting hole (702) is used for connecting the torsion spring, and the clamping groove (701) is used for clamping a rigid connecting piece on the fin-shaped flexible gripper head (1).

7. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the drive shaft (6) is a rectangular spline shaft.

8. Flexible gripper for teaching robots according to claim 1 characterized in that the fin-shaped flexible gripper head (1) is detachably mounted on a gripper head mounting base (7).

9. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the flexible gripper is integrally mounted on a housing (15), and that the housing (15) is internally provided with a motor driving the worm (3) and the drive shaft (6).

10. Flexible gripper for teaching mechanical arms according to claim 1, characterized in that the drive shaft (6) is provided with stop rings at both ends to prevent derailment of the two first bevel gears (8).