本文介绍了大型机器人自动换手爪装置的研制过程。所研制的机器人自动换手爪装置,可使机器人自动更换机械手或其它作业工具,从而增加了机器人的功能,扩大了使用范围。该装置由于巧妙地在很小的体积内进行力的两级放大,因而可产生较大的接合面压力,使该装置具有联接刚度高、体积小、重量轻、承载能力大的特点,从而可应用于大型机器人。 This article describes the development of robotic robotic gripper devices. Developed by the robot automatic changeover claw device, the robot can automatically replace the robot or other work tools, thereby increasing the robot’s functionality, expanding the scope of use. Due to the ingenious two-stage magnification of force in a small volume, the device can generate larger joint pressure so that the device has the characteristics of high connection rigidity, small volume, light weight and large carrying capacity, and therefore, Applied to large robots.