Electromagnetic under-actuated self-adaptive servo motorized gripper

Abstract

The present application relates to a kind of electromagnetic underactuated adaptive servo electric clamping jaw.The electromagnetic underactuated adaptive servo electric clamping jaw described in the present application includes clamping jaw transmission module, drive module and clamping jaw adaptive module;The drive link, driven link, intermediate rod and clamping finger of clamping jaw transmission module form four-bar linkage;The drive motor of drive module drives screw to rotate, and transmission block converts the rotary motion of screw into linear motion;Clamping jaw electromagnetic adaptive module includes clamping finger magnet and intermediate rod magnet, when two magnets are powered, two magnet poles repel each other, so that the clamping finger and the intermediate rod keep repelling state.The electromagnetic underactuated adaptive servo electric clamping jaw described in the present application has the advantages of being able to adapt to grasping workpieces of different types, sizes and shapes through electromagnetic adaptive module and four-bar linkage structure, avoiding complex mechanical structure and reducing production and maintenance cost of mechanical components.

Description

TECHNICAL FIELD

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

[0002] Most of the existing robot grippers are of the gripper type, which generally has two or more than two clamping components capable of relative movement, and the clamping or loosening action of external components is completed by the clamping components.

[0003] However, the robot gripper can only grip specific objects and cannot achieve multi-purpose operation. During operation, the corresponding gripper head or tool must be selected according to different scenarios for operation. For example, the existing parallel gripping type gripper can only be applied to workpieces with large flat surfaces and cannot stably grip workpieces with irregular shapes or cylindrical workpieces. It has no self-adaptive function and cannot self-adaptively envelope the workpieces with irregular shapes or cylindrical workpieces.

[0004] To overcome the above defects, the existing patent CN116277096A discloses an electric gripper. The patent controls the clamping pieces on both sides of the gripper to always remain parallel through a four-bar linkage mechanism and a gear mechanism. The non-self-locking transmission reduction mechanism can realize the sensing of torque and the detection of falling. However, the patent does not realize self-adaptive envelope gripping, and the clamping pieces on both sides can only be gripped in parallel and cannot be self-adaptively envelope gripped. In addition, the non-self-locking transmission reduction mechanism can realize the detection of falling, but it is not protected when the gripper is unexpectedly powered off, which may cause the workpiece to slide. Patent CN111230915A discloses a single-drive adaptive gripper. The patent drives the driving link to move through a main drive crank and a secondary drive crank by a transmission structure and a driving device. The spring element is compressed and deformed to ensure that it can self-adaptively grip the workpiece. Although the patent can realize self-adaptive gripping of the workpiece, the exposed spring element and driving crank are not suitable for industrial environments with a lot of dust, the transmission structure has a low service life, and the structure is also non-self-locking, which may cause the workpiece to slide when powered off. Patent CN108214534B discloses a self-adaptive under-actuated robot gripper. The patent includes a gripper shell, a driving module, and a finger module. The gripper shell includes a gripper front shell, a gripper rear shell, and a fixing flange. The driving module is arranged in the gripper shell and mainly drives the driving rod to move synchronously in a straight line through a driving motor, drives the adaptive connecting rod system and the parallel connecting rod system to move, and enables the finger module to self-adaptively grip the workpiece. The patent uses a complex connecting rod structure, including an adaptive connecting rod system and a parallel connecting rod system, to realize self-adaptive gripping. The excessive connecting rod structure makes the maintenance difficult during later use.

[0005] At present, there are structures for adaptive gripping through multiple drives, which use multiple drive motors and multiple transmission modules, resulting in complex structure, large space occupation, high cost and inconvenient maintenance. The existing structure for adaptive gripping of the gripper through elastic elements realizes enveloping gripping of workpieces through elastic elements. This structure utilizes the deformation of the spring to keep the gripper parallel. The disadvantage is that the spring may fatigue and lose elasticity during long-term periodic compression and release, resulting in a decrease in its restraining force and efficiency, which may cause the gripper to grip the workpiece unstably. In addition, the installation of the spring is difficult, which also leads to inconvenient maintenance. SUMMARY

[0006] Therefore, the purpose of the present application 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 drive module and a gripper adaptive module; the gripper transmission module comprises a drive link, a driven link, an intermediate link and a clamping finger, one end of the drive link is hinged to one end of the driven link, the other end of the drive link is hinged to one end of the intermediate link, one end of the clamping finger is connected to the other end of the driven link and the intermediate link which are not connected to the drive link, forming a four-bar linkage mechanism, the other end of the clamping finger is a free end for clamping the object to be clamped; the drive module comprises a drive motor, a lead screw and a transmission block, the output end of the drive motor is connected to the lead screw for driving the lead screw to rotate, the transmission block is arranged on the lead screw for converting the rotary motion of the lead screw into linear motion; one gripper transmission module is connected to each side of the transmission block, and two gripper transmission modules form a gripper; the gripper electromagnetic adaptive module comprises a clamping finger magnet and an intermediate link magnet, the clamping finger magnet is arranged on one side of the clamping finger inside the four-bar linkage mechanism, the intermediate link magnet is arranged on the intermediate link, the two magnets are electromagnets with the same magnetic pole, when the two magnets are electrified, the magnetic poles of the two magnets repel each other, keeping the clamping finger and the intermediate link in a repelling state.

[0008] The electromagnetic under-actuated adaptive servo electric clamping jaw provided by the application realizes parallel grabbing and envelope grabbing of workpieces through the electromagnetic clamping jaw adaptive module and the four-link structure, so that the clamping jaw can adapt to grabbing workpieces of different types, sizes and shapes; the four-link mechanism of the clamping jaw and the electromagnetic clamping jaw adaptive module can completely realize all the grabbing functions of the clamping jaw, avoiding complex mechanical structures and reducing the production and maintenance costs of mechanical components; the clamping jaw adaptive module is realized by using an electromagnet, compared with the traditional use of elastic elements to realize adaptive grabbing and resetting, the clamping jaw reasonably utilizes the principle of repulsion between like poles, and the adaptive grabbing and automatic resetting of the clamping jaw are realized ingeniously, the electromagnet structure is relatively simple, and there is no fatigue and elastic weakening problem of traditional springs, so the maintenance cost is relatively low.

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

[0010] Further, when the clamping jaw grabs the workpiece, the two clamping fingers directly grab the workpiece in parallel when the driven link does not touch the workpiece; when the clamping jaw grabs the workpiece, the driven link stops moving when it first touches the workpiece, the intermediate link continues to rotate, and when the pressure of the intermediate link overcomes the electromagnetic repulsion force, the clamping finger and the intermediate link start to close, so that the clamping finger rotates to envelope grab the workpiece.

[0011] Further, the clamping surface of the clamping finger is provided with a silica gel clamping piece or other anti-skid material. The friction force of clamping is increased, and the workpiece can be grabbed more stably.

[0012] Further, the two ends of the lead screw are respectively provided with a first support bearing and a second support bearing. The stability and precision of the lead screw are ensured.

[0013] Further, the clamping finger and the driven link are hinged through a finger rotating pin; the clamping finger and the intermediate link are hinged through a finger connecting pin; and the intermediate link and the driving link are hinged through an intermediate link rotating pin.

[0014] Further, the clamping jaw further comprises a clamping jaw control module, the clamping jaw control module comprises a touch screen, a motor driver and a main control board; the touch screen is arranged on the surface of the clamping jaw shell and is used to carry a clamping jaw human-computer interaction interface, a user inputs instructions through the clamping jaw human-computer interaction interface for control; the motor driver is connected with the driving motor and is used for motor closed-loop control, realizing motor current, position and speed control; the main control board is arranged inside the clamping jaw shell and is used to carry a clamping jaw control analysis program, control and feedback motor, touch screen communication and electromagnet switch control.

[0015] Further, a clamping jaw shell and a main control board are further included; the clamping jaw shell wraps the clamping jaw transmission module, the driving module, the clamping jaw adaptive module and the clamping jaw control module, the main control board is arranged inside the clamping jaw shell and is used to carry a clamping jaw control analysis program, control and feedback motor, touch screen communication and electromagnetic switch control.

[0016] In order to better understand and implement, the present application is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the electromagnetic under-actuated adaptive servo electric clamping jaw of the present application.

[0018] Figure 2 It is a schematic diagram of the structure of the clamping jaw electromagnetic adaptive module of the present application.

[0019] Figure 3 It is a schematic diagram of the magnetic force line of the clamping jaw electromagnetic adaptive module of the present application.

[0020] Figure 4 It is a schematic diagram of the structure of the electromagnetic under-actuated adaptive servo electric clamping jaw when parallel grabbing.

[0021] Figure 5 It is a schematic diagram of the structure of the electromagnetic under-actuated adaptive servo electric clamping jaw when envelope grabbing.

[0022] Reference signs: 11, driving connecting rod; 12, driven connecting rod; 13, intermediate rod; 14, clamping finger; 15, silica gel clamping piece;

[0023] 21, motor fixing plate; 22, driving motor; 23, screw rod; 24, transmission block; 25, first supporting bearing; 26, second supporting bearing;

[0024] 31, clamping finger magnet; 32, intermediate rod magnet; 33, finger rotating pin; 34, finger connecting pin; 35, intermediate rod rotating pin;

[0025] 41, touch screen; 42, motor driver; 43, main control board. DETAILED DESCRIPTION

[0026] Please refer to Figures 1-5 The electromagnetic under-actuated adaptive servo electric clamping jaw of the present application includes a clamping jaw shell and a clamping jaw transmission module, a driving module, a clamping jaw electromagnetic adaptive module and a clamping jaw control module arranged inside the clamping jaw shell.

[0027] The claw transmission module comprises a driving link 11, a driven link 12, an intermediate link 13, a clamping finger 14 and a silica gel clamping piece 15. One end of the driving link 11 is hinged to one end of the driven link 12; the other end of the driving link 11 is hinged to one end of the intermediate link 13; one end of the clamping finger 14 is connected to the other end of the driven link 12 and the intermediate link 13 which are not connected to the driving link, and the other end is a free end for clamping the object to be clamped. The connecting lines of the driving link 11, the driven link 12, the intermediate link 13 and the clamping finger 14 connected in turn form a quadrilateral, and locally form a four-bar linkage mechanism. The silica gel clamping piece 15 is arranged at the free end of the clamping finger 14, and the silica gel clamping piece 15 increases the friction force of clamping, so that the workpiece can be clamped more stably.

[0028] The driving module comprises a motor fixing plate 21, a driving motor 22, a lead 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 claw shell, the driving motor 22 is fixed on the motor fixing plate 21, the output end of the driving motor 22 is connected to the lead screw 23, driving the lead screw 23 to rotate, the transmission block 24 is arranged on the lead screw 23, converting the rotary motion of the lead screw 23 into linear motion; the first support bearing 25 and the second support bearing 26 are arranged at both ends of the lead screw 23 respectively, ensuring the stability of the lead screw 23. The lead screw transmission structure can realize the function of power-off self-locking to prevent the workpiece from falling off in the case of power failure or fault during clamping.

[0029] The transmission block 24 is connected to one end of the driving link 11 and the driven link 12; the two claw transmission modules are arranged opposite to each other, and when the transmission block 24 moves away from the driving motor 22, the two claw transmission modules move apart, and when the transmission block 24 moves towards the driving motor 22, the two claw transmission modules move close to each other, and the two clamping fingers 14 clamp the workpiece.

[0030] Further, the transmission block 24 is connected to one end of the driving link 11 and the driven link 12; the two claw transmission modules are arranged opposite to each other, and when the transmission block 24 moves away from the driving motor 22, the two claw transmission modules move apart, and when the transmission block 24 moves towards the driving motor 22, the two claw transmission modules move close to each other, and the two clamping fingers 14 clamp the workpiece.

[0031] The clamping jaw electromagnetic self-adaptive module comprises clamping finger magnets 31, middle rod magnets 32, finger rotating pins 33, finger connecting pins 34 and middle rod rotating pins 35. The clamping finger magnets 31 are arranged on one side of the clamping fingers 14 in the four-bar linkage mechanism, and the middle rod magnets 32 are arranged on the middle rod 13. The two magnets are electromagnets with the same magnetic pole and are located on two adjacent sides in the quadrilateral of the four-bar linkage mechanism. When the two magnets are electrified, the magnetic poles of the two magnets repel each other, so that the clamping fingers 14 and the middle rod 13 remain in a repelling state. When the clamping jaw does not clamp the workpiece, the two clamping fingers 14 of the clamping jaw always remain in a parallel state. When the clamping jaw clamps the workpiece, the power exceeds the magnetic force of repulsion, so that the workpiece is adaptively enveloped and clamped. The finger rotating pins 33 are arranged at the hinged ends of the clamping fingers 14 and the driven link 12, the finger connecting pins 34 are arranged at the hinged ends of the clamping fingers 14 and the middle rod 13, and the middle rod rotating pins 35 are arranged at the hinged ends of the middle rod 13 and the driving link 11, so as to realize the rotation of the clamping fingers.

[0032] The clamping jaw control module comprises 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 clamping jaw shell and is used to carry the clamping jaw human-computer interaction interface. The user inputs instructions through the clamping jaw human-computer interaction interface for control. The motor driver 42 is connected with the driving motor and is used for closed-loop control of the motor to realize motor current, position and speed control. The main control board 43 is arranged inside the clamping jaw shell and is used to carry the clamping jaw control analysis program, control and feedback motor, touch screen communication and electromagnetic switch control.

[0033] In use, first start the power supply, power supply for the entire electromagnetic under-actuated adaptive servo motor clamping system. Motor driver 42 receives power and begins initialization, ready to receive the control instructions of the main control board 43; after power on, enter system initialization, main control board 43 starts, load clamping control analysis program, touch screen 41 lights up, display clamping man-machine interface, waiting for user input or preset instructions; the user inputs or selects the preset grabbing parameters through the touch screen 41, including workpiece size, shape, weight, etc., the main control board 43 receives and analyzes these parameters, calculates the required motor control current, voltage; the main control board 43 sends control instructions to the motor driver 42, starts the drive motor 22, the drive motor 22 converts the rotary motion into linear motion through the screw 23 and the transmission block 24, adjusts the position of the clamping jaw; after the clamping jaw is powered on, the clamping finger magnet 31 and the middle rod magnet 32 are powered on in turn, generating a magnetic field with the same magnetic pole, so that the clamping finger 14 and the middle rod 13 maintain a repulsive state, and the two clamping fingers of the clamping jaw always maintain a parallel state; after the main control board 43 sends control instructions, the motor continues to drive the clamping jaw to move towards the workpiece, until the front end of the clamping jaw approaches the workpiece, when the clamping jaw contacts the workpiece, the driven link 12 first contacts the workpiece and stops moving, while the driving link 11 of the clamping jaw is still in continuous motion, driving the middle rod 13 to continuously rotate, when the pressure of the middle rod 13 overcomes the electromagnetic repulsive force, the clamping finger 14 and the middle rod 13 begin to close, so that the clamping finger 14 rotates to envelope the workpiece. When the driven link 12 does not contact the workpiece, the two clamping fingers 14 directly grab the workpiece in parallel. During clamping, the main control board 43 adjusts the motor current, position and speed through the motor driver 42 to ensure that the clamping jaw continuously and stably grabs the workpiece. When the clamping is finished and needs to be opened, the main control board 43 adjusts the current of the two electromagnets, adjusts and increases the repulsive force of the clamping finger 14 and the middle rod 13 through the electromagnetic adaptive mechanism, so that the clamping finger 14 and the middle rod 13 of the clamping jaw open, and the drive motor 22 reverses rotation, the clamping link mechanism opens and releases the workpiece; after the workpiece is released, the main control board 43 adjusts the current of the two electromagnets again, so that the magnetic force of the electromagnet remains at a suitable value, so that the two clamping pieces reset to the initial state, and prepare to receive the next grabbing instruction.

[0034] The electromagnetic under-actuated self-adaptive servo electric clamping jaw of the application realizes parallel grabbing and envelope grabbing of workpieces through an electromagnetic self-adaptive mechanism and a four-bar linkage structure, so that the clamping jaw can adapt to grabbing workpieces of different types, sizes and shapes; the four-bar linkage mechanism and the electromagnetic self-adaptive mechanism of the clamping jaw can completely realize all grabbing functions of the clamping jaw, avoiding complex mechanical structures and reducing the production and maintenance costs of mechanical components; the self-adaptive structure is realized by using an electromagnet, compared with the traditional use of elastic elements to realize adaptive grabbing and resetting, the clamping jaw reasonably utilizes the principle of same polarity repulsion of magnets, and skillfully realizes adaptive grabbing and automatic resetting of the clamping jaw, the electromagnet structure is relatively simple, and there is no fatigue and elastic weakening problem of traditional springs, so the maintenance cost is relatively low; each component of the clamping jaw adopts modular design, which is convenient for disassembly and replacement, reduces the maintenance cost and time, at the same time, the modular design also makes the clamping jaw can be flexibly configured and expanded according to different application scenes and requirements; the electric clamping jaw is designed in an integrated manner, and is provided with an internal intelligent sensor, a self-adaptive clamping control algorithm and the like, and is convenient for clamping parameter operation through a touch screen operation interface, so that the intelligent level and production efficiency of the production line are improved.

[0035] The above-mentioned embodiments only express several embodiments of the application, and the description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the application, a number of modifications and improvements can be made, and the application also intends to include these modifications and improvements.

Claims

1. An electromagnetic under-actuated adaptive servo-electro-claw, characterized by: The utility model provides a kind of electromagnetic adaptive gripper, including gripper transmission module, drive module and gripper electromagnetic adaptive module;The gripper transmission module includes driving link, driven link, intermediate rod and clamping finger, one end of the driving link is hinged with one end of the driven link, the other end of the driving link is hinged with one end of the intermediate rod, one end of the clamping finger is connected with the other end of the driven link and the intermediate rod not connected with the driving link respectively in two positions, forming four-bar linkage mechanism, the other end of the clamping finger is free end, for clamping object to be clamped;The drive module includes drive motor, screw rod and transmission block, the output end of the drive motor is connected with the screw rod, for driving the screw rod to rotate, the transmission block is arranged on the screw rod, for converting the rotary motion of the screw rod into linear motion;Transmission block both sides are connected with a gripper transmission module respectively, and two gripper transmission modules form a gripper;The gripper electromagnetic adaptive module includes clamping finger magnet and intermediate rod magnet, the clamping finger magnet is arranged on one side of the clamping finger in four-bar linkage mechanism, the intermediate rod magnet is arranged on the intermediate rod, and the two magnets are electromagnets with the same magnetic pole, when the two magnets are electrified, the magnetic poles of the two magnets repel each other, so that the clamping finger and the intermediate rod keep repelling state.

2. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 1, wherein: When the gripper does not clamp workpiece, the two clamping fingers of the gripper always keep parallel state.

3. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 2, wherein: When the gripper clamps workpiece, the two clamping fingers directly clamp workpiece in parallel when the driven link does not touch workpiece, when the gripper clamps workpiece, the driven link stops moving when it first touches workpiece, the intermediate rod continues to rotate, when the pressure of the intermediate rod overcomes electromagnetic repulsion, the clamping finger and the intermediate rod start to close, so that the clamping finger rotates to envelope workpiece.

4. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 1, wherein: The clamping surface of the clamping finger is provided with silica gel clamping piece or other anti-skid material.

5. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 1, wherein: The screw rod is provided with first support bearing and second support bearing respectively at both ends.

6. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 1, wherein: The clamping finger and the driven link are hinged through finger rotating pin, the clamping finger and the intermediate rod are hinged through finger connecting pin, and the intermediate rod and the driving link are hinged through intermediate rod rotating pin.

7. The electromagnetic under-actuated adaptive servo-electro-claw according to claim 1, wherein: It also includes gripper control module, the gripper control module includes touch screen, motor driver and main control board, the touch screen is used to carry gripper man-machine interface, and user inputs instruction to control through gripper man-machine interface, the motor driver is connected with the drive motor, for motor closed-loop control, realizes motor current, position, speed control.

8. The electromagnetic under-actuated adaptive servo-electro-claw according to any one of claims 1-7, characterized in that: It also includes gripper shell and main control board, the gripper shell wraps the gripper transmission module, drive module, gripper electromagnetic adaptive module and the gripper control module, the main control board is arranged in the gripper shell, for carrying gripper control analysis program, control and feedback motor, touch screen communication and electromagnetic iron switch control.

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