工业机器人二指夹持器的改进与分析

Improvement and Analysis of Industrial Robot Two-Finger Gripper

工业机器人是一种先进的制造设备,其末端执行件的自动化程度及可靠性影响着机器人的性能。针对现有工业机器人两指夹持器在抓取物体过程中存在的问题,把普通的二指夹持器改进成一种柔性自动同心工业机器人夹持器,在夹持器上增加了弹簧元件,将夹持器与工件的硬接触变为软接触,当夹持器的中心与工件的中心不重合时也可进行抓取,提高了工作效率。完成了柔性自动同心工业机器人夹持器的总体结构设计,并对夹持器可夹持最大工件重量进行了分析。

The industrial robot is an advanced manufacturing equipment,and the degree of automation and reliability of the end effector affects the performance of the robot.In view of the problems existing in the process of grasping objects by the two-finger gripper of the existing industrial robot,the ordinary two-finger gripper is improved into a flexible automatic concentric industrial robot gripper.A spring element is added to the gripper to make the hard contact of the gripper and the workpiece into soft contact.When the center of the holder does not coincide with the center of the workpiece,the workpiece can be grasped,thereby improving work efficiency.The overall structure design of the flexible automatic concentric industrial robot gripper was completed and the gripper was able to hold the maximum workpiece weight for analysis.