An electromagnetic mechanical gripper with adjustable clamping force and its application method

A robotic gripper and electromagnetic technology, applied in the field of robotics, can solve the problems of high cost, low efficiency, poor control of grasping force, etc., and achieve the effects of fast response, reduced occupied volume, and improved work efficiency

CN106514686BActive Publication Date: 2019-02-26SHANDONG UNIV OF SCI & TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2019-02-26

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Abstract

The invention discloses an electromagnetic mechanical gripper with adjustable clamping force, which comprises a left gripper, a right gripper, a left permanent magnet, a right permanent magnet, an electromagnet, a single-chip microcomputer and an electromagnet power supply circuit. The claws are connected to each other, have the same structure and are left and right symmetrical. The left permanent magnet is arranged under the left claw, the right permanent magnet is arranged under the right claw, and the electromagnet is arranged in the middle of the left and right permanent magnets. The microcontroller and the electromagnet are powered The lines are connected, and the magnitude of the current on the electromagnet power supply line is adjustable. The invention also discloses an application method of the electromagnetic manipulator claw with adjustable clamping force. The method includes the process of establishing the resistance value database of the electromagnetic manipulator and the dynamic adjustment in practical application. The invention controls the magnitude of the current connected to the electromagnet coil by changing the resistance value of the programmable resistor, and can control the magnitude of the grasping force of the claw, and adopts the electromagnetic system, which saves the bulky air pump and hydraulic device, and reduces the volume .
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Description

Technical field

[0001] The invention belongs to the technical field of robots, and in particular relates to an electromagnetic manipulator claw with adjustable clamping force and an application method thereof. Background technique

[0002] At present, with the continuous development of industrial automation, the industrial robot industry is advancing rapidly. The body of the manipulator is becoming more and more perfect, but the end effector of the manipulator for different purposes needs further development. Most of the existing manipulator claws have the following problems: the power is mostly pneumatic, the noise is large, and the air pump needs to be carried, and the structure is cumbersome; the force of the claw gripping objects is not well controlled, which is required to grasp objects with different gravity and different surface friction coefficients The gripping force is different. Too little force will easily cause the object to slip off, and too much force will easily ...

Examples

Embodiment Construction

[0030] The present invention will be further described in detail below with reference to the drawings and specific embodiments, but the present invention is not limited to these embodiments.

[0031] Such as Figure 1 to Figure 4 As shown, an electromagnetic manipulator claw with adjustable clamping force includes a left-hand claw 1, a right-hand claw 2, a left-hand permanent magnet 10.1, a right-hand permanent magnet 10.2, an electromagnet 15, a single-chip microcomputer, and power supply for the electromagnet 15. The electromagnet power supply line. The single-chip microcomputer is connected with the electromagnet power supply line, and the current on the electromagnet power supply line is adjustable.

[0032] The electromagnetic manipulator claw also includes a base 17, the left and right claws are respectively mounted on the base 17, and the electromagnet 15 is arranged in the base 17. The base 17 is a sealed structure, which can effectively play a role of dustproof and water...