Electromagnetic under-actuated self-adaptive servo electric clamping jaw

Abstract

The invention relates to an electromagnetic type under-actuated self-adaptive servo electric clamping jaw. The electromagnetic under-actuated self-adaptive servo electric clamping jaw comprises a clamping jaw transmission module, a driving module and a clamping jaw self-adaptive module, a driving connecting rod, a driven connecting rod, a middle rod and clamping fingers of the clamping jaw transmission module form a four-connecting-rod mechanism; a driving motor of the driving module drives a lead screw to rotate, and a transmission block converts rotary motion of the lead screw into linear motion; the clamping jaw electromagnetic self-adaptive module comprises a clamping finger magnet and a middle rod magnet, and when the two magnets are powered on, the magnetic poles of the two magnets repel each other, so that the clamping fingers and the middle rod are kept in a mutual exclusion state. The electromagnetic under-actuated self-adaptive servo electric clamping jaw has the advantages that workpieces of different types, sizes and shapes can be adaptively grabbed through the electromagnetic self-adaptive module and a four-connecting-rod structure, a complex mechanical structure is avoided, and the production and maintenance cost of mechanical parts is reduced.

Description

Technical Field

[0001] The invention relates to the field of robot grippers, in particular to an electromagnetic under-actuated adaptive servo electric gripper. Background Art

[0002] Most existing robot gripping mechanisms are of the clamping claw type. The clamping claw type gripping mechanism usually has two or more clamping components that can move relative to each other, and the clamping components are used to complete the clamping or loosening action of the external component.

[0003] However, robot grippers can only grip specific objects and cannot be multi-purpose. When working, they can only select the corresponding gripper head or tool according to different scenarios. For example, the existing more common parallel grasping grippers are only suitable for workpieces with larger planes. They cannot grasp special-shaped or cylindrical workpieces stably. They have no adaptive function and cannot adaptively envelope grasp special-shaped or cylindrical workpieces.

[0004] In view of the above defects, patent CN116277096A in the prior art discloses an electric gripper, which uses a four-bar linkage and a gear mechanism to control the clamping pieces on both sides of the gripper to always remain in a parallel state. Its non-self-locking transmission reduction mechanism can sense the torque and realize drop detection. However, this patent does not realize adaptive envelope grasping. The clamping pieces on both sides can only grasp in parallel, and cannot adaptively grasp in envelope. Secondly, although the non-self-locking transmission reduction mechanism can realize drop detection, if the gripper is accidentally powered off, there is no protection, which may cause the workpiece to slip. Patent CN111230915A discloses a single-drive adaptive gripper. The patent uses a transmission structure, a driving device, a main driving crank and a secondary driving crank to drive the driving connecting rod to move, the proximal knuckle and the distal knuckle to move, and its spring element is compressed and deformed to ensure that it can adaptively grasp the workpiece. Although the patent can realize adaptive grasping of the workpiece, its exposed spring element and driving crank are not suitable for industrial occasions with large dust. The transmission structure has a low life span. It is also a non-self-locking structure, which will cause the workpiece to slip when the power is off. Patent CN108214534B discloses an adaptive under-actuated robot gripper. The patent includes a gripper housing, a driving module and a finger module. The gripper housing includes a gripper front housing, a gripper rear housing and a fixing flange. The driving module is arranged in the gripper housing. It mainly drives the driving rod to make synchronous linear motion through a driving motor, drives the adaptive connecting rod system and the parallel connecting rod system to move, so that the finger module can adaptively grasp the workpiece. This patent uses a complex linkage structure, including an adaptive linkage system and a parallel linkage system, to achieve adaptive grasping. Too many linkage structures make subsequent maintenance more difficult.

[0005] At present, there are structures that use multiple drives to achieve adaptive grasping. This structure uses multiple drive motors and multiple transmission modules, resulting in complex structure, large space occupation, high cost and inconvenient maintenance. There are existing structures that use elastic elements to achieve adaptive grasping of the clamp, and use elastic elements to achieve enveloping grasping of the workpiece. This structure uses the deformation of the spring to keep the clamp parallel. The disadvantage is that the spring may become fatigued and its elasticity weakened during the long-term periodic compression and release, resulting in a decrease in its restraining force and efficiency, which may cause the clamp to grasp the workpiece unsteadily, and the difficulty in installing the spring also leads to inconvenience in maintenance. Summary of the invention

[0006] Based on this, the object of the present invention is to provide an electromagnetic under-actuated adaptive servo electric gripper.

[0007] An electromagnetic under-actuated adaptive servo electric gripper, comprising a gripper transmission module, a driving module and a gripper adaptive module; the gripper transmission module comprises a driving connecting rod, a driven connecting rod, an intermediate rod and a gripping finger, one end of the driving connecting rod is hinged to one end of the driven connecting rod, the other end of the driving connecting rod is hinged to one end of the intermediate rod, one end of the gripping finger is respectively connected to the driven connecting rod and the end of the intermediate rod not connected to the driving connecting rod at two positions to form a four-bar linkage, the other end of the gripping finger is a free end for gripping an object to be gripped; the driving module comprises a driving motor, a screw and a transmission block, the output end of the driving motor is connected to the The screw rod is used to drive the screw rod to rotate, and the transmission block is arranged on the screw rod, and is used to convert the rotational motion of the screw rod into linear motion; a clamping claw transmission module is connected to each side of the transmission block, and the two clamping claw transmission modules constitute a clamping claw; the clamping claw electromagnetic adaptive module includes a clamping finger magnet and an intermediate rod magnet, the clamping finger magnet is arranged on the side of the clamping finger located in the four-bar linkage mechanism, and the intermediate rod magnet is arranged on the intermediate rod, the two magnets are electromagnets with the same magnetic poles, and when the two magnets are energized, the two magnet poles repel each other, so that the clamping finger and the intermediate rod remain in a mutually exclusive state.

[0008] The electromagnetic under-actuated adaptive servo electric gripper described in the present invention realizes parallel grasping and envelope grasping of workpieces through an electromagnetic gripper adaptive module and a four-bar structure, so that the gripper can adapt to grasping workpieces of different types, sizes and shapes; the gripper's four-bar mechanism and the electromagnetic gripper adaptive module can fully realize all the gripping functions of the gripper, avoiding complex mechanical structures and reducing the production and maintenance costs of mechanical components; wherein the gripper adaptive module is realized by an electromagnet, and compared with the traditional use of elastic elements to realize adaptive grasping and resetting, the gripper reasonably utilizes the principle of like charges repelling each other, and cleverly realizes adaptive grasping and automatic resetting of the gripper, and its electromagnet structure is relatively simple, and does not have the fatigue and elasticity weakening problems of traditional springs, so the maintenance cost is low.

[0009] Furthermore, when the clamp does not clamp a workpiece, the two clamping fingers of the clamp always remain in a parallel state.

[0010] Furthermore, when the clamping jaws grasp the workpiece and the driven connecting rod does not touch the workpiece, the two clamping fingers directly grasp the workpiece in parallel; when the clamping jaws grasp the workpiece and the driven connecting rod touches the workpiece first, the driven connecting rod stops moving and the intermediate rod continues to rotate, and when the pressure of the intermediate rod overcomes the electromagnetic repulsive force, the clamping fingers and the intermediate rod begin to close, so that the clamping fingers rotate to envelop and grasp the workpiece.

[0011] Furthermore, the clamping surfaces of the clamping fingers are provided with silicone clips or other anti-slip materials, which increases the friction of clamping and enables more stable gripping of workpieces.

[0012] Furthermore, a first support bearing and a second support bearing are respectively provided at both ends of the screw rod to ensure the stability and precision of the screw rod.

[0013] Furthermore, the clamping fingers and the driven connecting rod are hinged via a finger rotating pin; the clamping fingers and the intermediate rod are hinged via a finger connecting pin; and the intermediate rod and the driving connecting rod are hinged via an intermediate rod rotating pin.

[0014] Furthermore, it also includes a gripper control module, which includes a touch screen, a motor driver and a main control board; the touch screen is arranged on the surface of the gripper housing, and is used to carry the gripper human-computer interaction interface, and the user inputs instructions through the gripper human-computer interaction interface for control; the motor driver is connected to the drive motor, and is used to perform motor closed-loop control to achieve motor current, position, and speed control; the main control board is arranged inside the gripper housing, and is used to carry the gripper control analysis program, control and feedback motor, touch screen communication, and electromagnet switch control.

[0015] Furthermore, it also includes a gripper housing and a main control board; the gripper housing encloses the gripper transmission module, the drive module, the gripper adaptive module and the gripper control module, and the main control board is arranged inside the gripper housing, and is used to carry the gripper control analysis program, control and feedback motor, touch screen communication, and electromagnet switch control.

[0016] For better understanding and implementation, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the electromagnetic under-actuated adaptive servo electric gripper of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the electromagnetic adaptive module of the gripper of the present invention;

[0019] Figure 3 It is a schematic diagram of magnetic lines of force of the electromagnetic adaptive module of the gripper of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the electromagnetic under-actuated adaptive servo electric gripper of the present invention during parallel grasping;

[0021] Figure 5 It is a schematic structural diagram of the electromagnetic under-actuated adaptive servo electric gripper of the present invention during enveloping grasping.

[0022] Reference numerals: 11, driving connecting rod; 12, driven connecting rod; 13, intermediate rod; 14, clamping finger; 15, silicone clip;

[0023] 21. Motor fixing plate; 22. Driving motor; 23. Screw rod; 24. Transmission block; 25. First support bearing; 26. Second support bearing;

[0024] 31. Clamping finger magnet; 32. Intermediate rod magnet; 33. Finger rotation pin; 34. Finger connecting pin; 35. Intermediate rod rotation pin;

[0025] 41. Touch screen; 42. Motor driver; 43. Main control board. DETAILED DESCRIPTION

[0026] See also Figure 1-5 The electromagnetic under-actuated adaptive servo electric gripper of the invention comprises a gripper housing and a gripper transmission module, a drive module, a gripper electromagnetic adaptive module and a gripper control module arranged inside the gripper housing.

[0027] The clamp transmission module includes a driving connecting rod 11, a driven connecting rod 12, an intermediate rod 13, a clamping finger 14 and a silicone clip 15. One end of the driving connecting rod 11 is hinged to one end of the driven connecting rod 12; the other end of the driving connecting rod 11 is hinged to one end of the intermediate rod 13; two positions at one end of the clamping finger 14 are respectively connected to the driven connecting rod 12 and the end of the intermediate rod 13 that is not connected to the driving connecting rod, and the other end is a free end for clamping the object to be clamped. The connecting lines connecting the driving connecting rod 11, the driven connecting rod 12, the intermediate rod 13 and the clamping finger 14 in sequence form a quadrilateral, partially forming a four-bar linkage. The silicone clip 15 is arranged at the free end of the clamping finger 14, and the silicone clip 15 increases the friction of clamping, so that the workpiece can be clamped more stably.

[0028] The driving module includes a motor fixing plate 21, a driving motor 22, a screw 23, a transmission block 24, a first support bearing 25 and a second support bearing 26; the motor fixing plate 21 is arranged inside the clamp housing, the driving motor 22 is fixed on the motor fixing plate 21, the output end of the driving motor 22 is connected to the screw 23 to drive the screw 23 to rotate, the transmission block 24 is arranged on the screw 23 to convert the rotational motion of the screw 23 into linear motion; the first support bearing 25 and the second support bearing 26 are respectively arranged at both ends of the screw 23 to ensure the stability of the screw 23. The screw transmission structure can realize the power-off self-locking function to prevent the workpiece from slipping in the event of a power outage or failure when clamping the workpiece.

[0029] The two sides of the transmission block 24 are respectively connected to a clamping jaw transmission module, and two clamping jaw transmission modules form a clamping jaw to clamp the workpiece.

[0030] Furthermore, the transmission block 24 is connected to one end of the driving connecting rod 11 and the driven connecting rod 12; the clamping claw transmission modules on both sides are arranged relatively to each other. When working, when the transmission block 24 moves away from the driving motor 22, the clamping claw transmission modules on both sides are separated, and when the transmission block 24 moves toward the driving motor 22, the clamping claw transmission modules on both sides are close, and the two clamping fingers 14 clamp the workpiece.

[0031] The clamping jaw electromagnetic adaptive module includes a clamping finger magnet 31, an intermediate rod magnet 32, a finger rotating pin 33, a finger connecting pin 34 and an intermediate rod rotating pin 35. The clamping finger magnet 31 is arranged on one side of the clamping finger 14 located in the four-bar linkage mechanism, and the intermediate rod magnet 32 ​​is arranged on the intermediate rod 13. The two magnets are electromagnets with the same magnetic poles, which are respectively located on two adjacent sides of the quadrilateral of the four-bar linkage mechanism. When the two magnets are energized, the two magnet poles repel each other, so that the clamping finger 14 and the intermediate rod 13 remain in a mutually exclusive state; when the clamping jaw does not clamp a workpiece, the two clamping fingers 14 of the clamping jaw always remain in a parallel state. When the clamping jaw grabs a workpiece, the power exceeds the mutually exclusive magnetic force, so as to realize adaptive envelope grabbing of the workpiece. The finger rotation pin 33 is arranged at the hinged end of the clamping finger 14 and the driven connecting rod 12, the finger connecting pin 34 is arranged at the hinged end of the clamping finger 14 and the intermediate rod 13, and the intermediate rod rotation pin 35 is arranged at the hinged end of the intermediate rod 13 and the driving connecting rod 11 to realize the rotation of the clamping finger.

[0032] The gripper control module includes a touch screen 41, a motor driver 42 and a main control board 43. The touch screen 41 is arranged on the surface of the gripper housing and is used to carry the gripper human-computer interaction interface. The user inputs instructions through the gripper human-computer interaction interface for control; the motor driver 42 is connected to the drive motor and is used to perform motor closed-loop control to achieve motor current, position and speed control; the main control board 43 is arranged inside the gripper housing and is used to carry the gripper control analysis program, control and feedback motor, touch screen communication, and electromagnet switch control.

[0033] When in use, first start the power supply to power the entire electromagnetic under-driven adaptive servo electric gripper system. The motor driver 42 receives the power supply and starts initialization, preparing to receive control instructions from the main control board 43; after the power is turned on, the system enters initialization, the main control board 43 starts, loads the gripper control analysis program, the touch screen 41 lights up, and displays the gripper human-computer interaction interface, waiting for user input or preset instructions; the user inputs or selects preset gripping parameters through the touch screen 41, including workpiece size, shape, weight, etc., the main control board 43 receives and analyzes these parameters, and calculates the current and voltage required for motor control; the main control board 43 sends a control instruction to the motor driver 42 to start the drive motor 22, and the drive motor 22 converts the rotational motion into linear motion through the screw rod 23 and the transmission block 24, and adjusts The position of the clamping jaws; after the clamping jaws are energized, the clamping finger magnets 31 and the intermediate rod magnets 32 are energized successively, generating magnetic fields with the same magnetic poles, so that the clamping fingers 14 and the intermediate rod 13 remain in a mutually exclusive state, and the two clamping fingers of the clamping jaws always remain in a parallel state; after the main control board 43 sends a control instruction, the motor continues to drive the clamping jaws to move toward the workpiece until the front end of the clamping jaws approaches the workpiece. When the clamping jaws touch the workpiece, the driven connecting rod 12 first touches the workpiece and stops moving, while the driving connecting rod 11 of the clamping jaws continues to move, driving the intermediate rod 13 to continue to rotate. When the pressure of the intermediate rod 13 overcomes the electromagnetic mutual repulsion, the clamping fingers 14 and the intermediate rod 13 begin to close, so that the clamping fingers 14 rotate and envelope to grab the workpiece. When the driven connecting rod 12 does not touch the workpiece, the two clamping fingers 14 directly grab the workpiece in parallel. During the clamping process, the main control board 43 adjusts the motor current, position and speed through the motor driver 42 to ensure that the clamping jaws continuously and stably grab the workpiece. When the clamping is finished and needs to be opened, the main control board 43 adjusts the current of the two electromagnets, and increases the mutual repulsion between the clamping fingers 14 and the middle rod 13 through the electromagnetic adaptive mechanism, so that the clamping fingers 14 and the middle rod 13 of the clamp are opened, and the drive motor 22 rotates in the opposite direction, the clamp connecting rod mechanism opens, and the workpiece is released; after the workpiece is released, the main control board 43 adjusts the current of the two electromagnets again to keep the magnetic force of the electromagnet at an appropriate value, so that the two clamps are reset to the initial state, and are ready to receive the next grasping instruction.

[0034] The electromagnetic under-actuated adaptive servo electric gripper of the present invention realizes parallel grasping and enveloping grasping of workpieces through an electromagnetic adaptive mechanism and a four-bar structure, so that the gripper can adapt to grasping workpieces of different types, sizes and shapes; the four-bar mechanism and electromagnetic adaptive mechanism of the gripper can fully realize all grasping functions of the gripper, avoid complex mechanical structure, and reduce the production and maintenance costs of mechanical parts; the adaptive structure is realized by electromagnets. Compared with the traditional use of elastic elements to realize adaptive grasping and resetting, the gripper reasonably utilizes the principle of like-sex repulsion of magnets, cleverly realizes adaptive grasping and automatic resetting of the gripper, and its electromagnet structure is relatively simple, and there is no fatigue and elastic weakening problem of traditional springs, so the maintenance cost is low; the various components of the gripper adopt modular design, which is easy to disassemble and replace, reducing maintenance cost and time. At the same time, the modular design also allows the gripper to be flexibly configured and expanded according to different application scenarios and requirements; the electric gripper has an integrated drive and control design, built-in intelligent sensors, adaptive clamping control algorithms, etc., and is convenient for clamping parameter operation through a touch screen operation interface, thereby improving the intelligence level and production efficiency of the production line.

[0035] The above-mentioned embodiments only express several implementation methods of the present invention, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. An electromagnetic underactuated adaptive servo electric gripper, characterized in that: It includes a gripper transmission module, a driving module and a gripper adaptive module; the gripper transmission module includes a driving connecting rod, a driven connecting rod, an intermediate rod and a gripping finger, one end of the driving connecting rod is hinged to one end of the driven connecting rod, the other end of the driving connecting rod is hinged to one end of the intermediate rod, one end of the gripping finger is respectively connected to the driven connecting rod and the end of the intermediate rod not connected to the driving connecting rod at two positions to form a four-bar linkage, the other end of the gripping finger is a free end for gripping an object to be gripped; the driving module includes a driving motor, a screw rod and a transmission block, the output end of the driving motor is connected to the screw rod for driving the The screw rod rotates, and the transmission block is arranged on the screw rod for converting the rotational motion of the screw rod into linear motion; a clamping claw transmission module is respectively connected to both sides of the transmission block, and the two clamping claw transmission modules constitute a clamping claw; the clamping claw electromagnetic adaptive module includes a clamping finger magnet and an intermediate rod magnet, the clamping finger magnet is arranged on the side of the clamping finger located in the four-bar linkage, and the intermediate rod magnet is arranged on the intermediate rod, the two magnets are electromagnets with the same magnetic poles, and when the two magnets are energized, the two magnet poles repel each other, so that the clamping finger and the intermediate rod remain in a mutually exclusive state.

2. The electromagnetic underactuated adaptive servo electric gripper according to claim 1, characterized in that: When the clamp does not clamp a workpiece, the two clamping fingers of the clamp always remain parallel.

3. The electromagnetic underactuated adaptive servo electric gripper according to claim 2, characterized in that: When the clamping jaws grasp the workpiece and the driven connecting rod does not touch the workpiece, the two clamping fingers directly grasp the workpiece in parallel; when the clamping jaws grasp the workpiece and the driven connecting rod touches the workpiece first, the driven connecting rod stops moving and the intermediate rod continues to rotate, and when the pressure of the intermediate rod overcomes the electromagnetic repulsive force, the clamping fingers and the intermediate rod begin to close, so that the clamping fingers rotate to envelop and grasp the workpiece.

4. The electromagnetic underactuated adaptive servo electric gripper according to claim 1, characterized in that: The clamping surfaces of the clamping fingers are provided with silicone clips or other anti-slip materials.

5. The electromagnetic underactuated adaptive servo electric gripper according to claim 1, characterized in that: The two ends of the screw rod are respectively provided with a first support bearing and a second support bearing.

6. The electromagnetic underactuated adaptive servo electric gripper according to claim 1, characterized in that: The clamping fingers and the driven connecting rod are hinged by a finger rotating pin; the clamping fingers and the intermediate rod are hinged by a finger connecting pin; the intermediate rod and the driving connecting rod are hinged by an intermediate rod rotating pin.

7. The electromagnetic underactuated adaptive servo electric gripper according to claim 1, characterized in that: It also includes a gripper control module, which includes a touch screen, a motor driver and a main control board; the touch screen is used to carry the gripper human-computer interaction interface, and the user inputs instructions through the gripper human-computer interaction interface for control; the motor driver is connected to the drive motor for closed-loop control of the motor to achieve motor current, position and speed control.

8. The electromagnetic underactuated adaptive servo electric gripper according to any one of claims 1 to 7, characterized in that: It also includes a gripper housing and a main control board; the gripper housing encloses the gripper transmission module, the drive module, the gripper adaptive module and the gripper control module; the main control board is arranged inside the gripper housing, and is used to carry the gripper control analysis program, control and feedback motor, touch screen communication, and electromagnet switch control.

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