Clamping jaw mechanism, mechanical arm and clamping force control method

Abstract

The invention relates to the technical field of intelligent manufacturing, and discloses a clamping jaw mechanism, a mechanical arm and a clamping force control method. The clamping jaw mechanism comprises a fixing base, a driving assembly and two clamping jaws, two sliding grooves are formed in the fixing base in the first direction at intervals, and the sliding grooves extend in the second direction; the driving assembly comprises a motor, a rotating seat, a plurality of meshing pieces and two racks, the motor is used for driving the rotating seat to rotate, the meshing pieces are evenly arranged on the side, away from the motor, of the rotating seat at intervals in the circumferential direction, the two racks are slidably connected to the sliding groove, and the sides, close to each other, of the racks are provided with a plurality of driving grooves at intervals in the second direction; the meshing pieces on the two sides in the first direction are meshed with the driving grooves of the two racks correspondingly. The two clamping jaws are connected to the rack so that the two clamping jaws can be driven to be close to or away from each other in the second direction when the rotating base rotates. The size of the clamping jaw mechanism in the radial direction of the rotating base is reduced, and the structure is more compact.

Description

Technical Field

[0001] The present invention relates to the field of intelligent manufacturing technology, and in particular to a clamping mechanism, a mechanical arm and a clamping force control method. Background Art

[0002] In the field of industrial automation, robots and robotic arms are increasingly used. Among them, the end effector installed at the end of the robot / robotic arm controls the opening and closing of the gripper through the rotation of the motor to drive the gear rack to achieve the gripping of the object. However, this end effector also has some obvious disadvantages.

[0003] First, although the rack and pinion transmission mechanism has a relatively simple structure, the radial dimension of the gear is relatively large, which causes the rack and pinion transmission mechanism to require a larger space in the radial direction of the gear, thereby increasing the size of the terminal execution unit.

[0004] Based on this, there is an urgent need for a clamping mechanism, a mechanical arm and a clamping force control method to solve the above-mentioned problems. Summary of the invention

[0005] Based on the above, the purpose of the present invention is to provide a clamping mechanism, a robotic arm and a clamping force control method, in which the engaging part, the rotating seat and the motor are superimposed along the axial direction of the rotating seat, thereby reducing the radial size of the clamping mechanism along the rotating seat and making the structure more compact.

[0006] To achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, a clamping mechanism is provided, comprising:

[0008] A fixing seat, which has two slide grooves spaced apart along the first direction, and the slide grooves extend along the second direction;

[0009] A driving assembly, comprising a motor, a rotating seat, a plurality of meshing members and two racks, wherein the motor is used to drive the rotating seat to rotate, the plurality of meshing members are evenly spaced along the circumferential direction on a side of the rotating seat away from the motor, the two racks are slidably connected to the slide grooves, a plurality of driving grooves are spaced along the second direction on a side where the racks are close to each other, and the meshing members on both sides along the first direction are respectively meshed with the driving grooves of the two racks;

[0010] Two clamping jaws are respectively connected to the racks, so that when the rotating seat rotates, the two clamping jaws can be driven to move closer to or farther from each other along the second direction.

[0011] As a preferred technical solution of a clamping mechanism, the engaging member is a follower bearing, the follower bearing is detachably connected to the rotating seat, and the follower bearing is rollingly engaged with the inner wall of the driving groove.

[0012] As a preferred technical solution for a clamping mechanism, the clamping mechanism also includes two adapter blocks, and the clamping jaw is connected to the rack via the adapter blocks; the adapter block includes a first connecting portion and a second connecting portion spaced along the first direction, the first connecting portion is connected to the middle position of the clamping jaw along the first direction, and the second connecting portion is connected to the rack, so that the two clamping jaws are arranged opposite each other along the second direction.

[0013] As a preferred technical solution of a clamping mechanism, one of the rack and the second connecting portion is provided with a positioning groove, and the other is provided with a positioning protrusion, and the positioning protrusion can be embedded in the positioning groove.

[0014] As an optimal technical solution for a clamping mechanism, the clamping mechanism also includes a cover plate, which is detachably connected to the fixed seat, the side wall of the rack is provided with a flange, the bottom of the slide groove is provided with a first avoidance hole, the cover plate is provided with a second avoidance hole, the flange is located between the bottom of the slide groove and the end face of the second avoidance hole, and one end of the rack provided with the driving groove is penetrated through the first avoidance hole; the end of the rack facing away from the driving groove is penetrated through the second avoidance hole.

[0015] As a preferred technical solution of a clamping mechanism, a accommodating cavity is provided on the side of the fixed seat facing away from the cover plate, one end of the rack provided with the driving groove is passed through the first avoidance hole and is located in the accommodating cavity, the rotating seat and the engaging member are located in the accommodating cavity, and the motor is connected to the side of the fixed seat facing away from the cover plate.

[0016] As a preferred technical solution of a clamping mechanism, the fixing seat is provided with an edge groove extending in the circumferential direction, and the cover plate is provided with an edge boss corresponding to the edge groove, and the edge boss can be embedded in the edge groove.

[0017] As a preferred technical solution of a clamping mechanism, a flange is detachably mounted on one end of the motor away from the rotating seat.

[0018] In a second aspect, a robotic arm is provided, comprising a robotic arm body and a gripper mechanism as described in any of the above schemes, wherein the gripper mechanism is arranged at the end of the robotic arm body.

[0019] In a third aspect, a clamping force control method is provided, using the clamping mechanism described in any of the above schemes, comprising the following steps:

[0020] S1. Set the required clamping force of the clamping jaws;

[0021] S2. Calculate the required torque of the motor using the following formula:

[0022]

[0023] Wherein, τ is the required torque of the motor; F is the required clamping force of the gripper; R is the radius of the distribution circle of all meshing parts; A is the number of the meshing part that drives the rack to move; α offset is the offset radian between the connection line of the axes of the first meshing part and the motor and the first direction when the gripper is in the closed state; α is the rotation radian of the motor relative to α offset ;

[0024] S3. By controlling the magnitude of the current of the motor, the motor is made to reach the required torque.

[0025] The beneficial effects of the present invention are as follows:

[0026] The present invention provides a gripper mechanism, a robotic arm and a clamping force control method. During operation, the motor drives the rotating seat to rotate, the rotating seat drives a plurality of meshing parts to rotate, and the meshing parts are meshed with two racks to drive the two racks to approach or move away from each other along the second direction in the sliding groove, so as to realize the clamping or loosening of an object by the two grippers. In the present invention, the meshing parts, the rotating seat and the motor are axially stacked along the rotating seat, reducing the size of the gripper mechanism in the radial direction of the rotating seat and making the structure more compact.

[0027] Furthermore, when the gripper clamps an object, according to the rotation radian of the motor and the required clamping force at this time, the required torque of the motor is calculated, and then the current of the motor is adjusted so that the motor reaches the required torque, ensuring that the gripper can maintain a constant force clamping when clamping objects of different sizes and improving the performance of the gripper mechanism. Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present invention. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present invention and these drawings.

[0029] Figure 1 is a schematic structural diagram of the gripper mechanism provided by the specific embodiment of the present invention;

[0030] Figure 2 is an exploded view of the structure of the gripper mechanism provided by the specific embodiment of the present invention;

[0031] Figure 3 is a schematic structural diagram of the fixed seat provided by the specific embodiment of the present invention;

[0032] Figure 4 It is a schematic structural diagram of a driving component provided by a specific embodiment of the present invention;

[0033] Figure 5 It is an exploded view of the structure of the driving component provided by a specific embodiment of the present invention.

[0034] The markings in the figure are as follows:

[0035] 1. Fixed seat; 11. Chute; 12. Accommodation cavity; 13. First avoidance hole; 14. Edge groove; 15. Third threaded hole;

[0036] 2. Driving component; 21. Motor; 211. First positioning hole; 22. Rotating seat; 221. Second positioning hole; 23. Engaging member; 24. Rack; 241. Positioning groove; 242. Flange; 243. Driving groove; 244. First threaded hole; 25. Adapter block; 251. First connecting portion; 2511. Second threaded hole; 252. Second connecting portion; 2521. Positioning protrusion; 2522. First through hole;

[0037] 3. Claw;

[0038] 4. Cover plate; 41. Second avoidance hole; 42. Edge boss; 43. Countersunk hole;

[0039] 5. Flange; 51. Connecting groove. Specific embodiment

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present invention, rather than limiting the present invention. In addition, it should be noted that for the convenience of description, only parts related to the present invention are shown in the drawings, rather than all structures.

[0041] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0043] In the description of this embodiment, the orientation or positional relationships such as "up", "down", "left" and "right" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0044] As Figures 1 - 3 shown, this embodiment provides a robotic arm, which includes a robotic arm main body and a jaw mechanism. The jaw mechanism is arranged at the end of the robotic arm main body. The jaw mechanism includes a fixed seat 1, a driving assembly 2 and two jaws 3. The fixed seat 1 is provided with two sliding grooves 11 at intervals along a first direction, and the sliding grooves 11 extend along a second direction; the driving assembly 2 includes a motor 21, a rotating seat 22, a plurality of engaging members 23 and two racks 24. The motor 21 is used to drive the rotating seat 22 to rotate. The plurality of engaging members 23 are evenly arranged at intervals in the circumferential direction on the side of the rotating seat 22 facing away from the motor 21. The two racks 24 are slidably connected to the sliding grooves 11. A plurality of driving grooves 243 are arranged at intervals along the second direction on the side of the racks 24 close to each other. The engaging members 23 on both sides along the first direction are respectively engaged with the driving grooves 243 of the two racks 24; the two jaws 3 are respectively connected to the racks 24, so that when the rotating seat 22 rotates, the two jaws 3 can be driven to approach or separate from each other along the second direction. In this embodiment, the first direction is X, the second direction is Y, and the third direction is Z, and the first direction, the second direction and the third direction are perpendicular to each other in pairs.

[0045] During operation, the motor 21 drives the rotating seat 22 to rotate. The rotating seat 22 drives the plurality of engaging members 23 to rotate. The engaging members 23 are engaged with the two racks 24 for transmission, so that the two racks 24 approach or separate from each other along the second direction in the sliding grooves 11, so as to realize the clamping or releasing of an object by the two jaws 3. In this embodiment, the engaging members 23, the rotating seat 22 and the motor 21 are arranged axially stacked along the rotating seat 22, reducing the size of the jaw mechanism along the radial direction of the rotating seat 22 and making the structure more compact.

[0046] In the prior art, during long-term high-load operation of the traditional jaw mechanism, wear of the gears and deformation of the rack 24 may lead to a decrease in transmission accuracy, thereby affecting the clamping stability and accuracy of the jaw 3. Preferably, the engaging member 23 is a follower bearing, which is detachably connected to the rotating seat 22, and the follower bearing is in rolling engagement with the inner wall of the driving groove 243. Among them, the follower bearing is in rolling engagement with the driving groove 243. Using a follower bearing has a higher load and less friction, greatly reducing frictional losses, improving transmission efficiency, extending the service life of the jaw mechanism, and enhancing stability.

[0047] Preferably, the rotating seat 22 has a centrosymmetric structure, and the number of rolling bearings is even and evenly distributed along the circumference. During the rotation of the rotating seat 22, the two racks 24 will move in opposite or opposite directions at the same speed, achieving the effect of parallel movement. In this embodiment, there are eight rolling bearings, and the rolling bearings are threadedly connected to the rotating seat 22. Four of the rolling bearings drive one rack 24, and the other four rolling bearings drive the other rack 24.

[0048] Since the two racks 24 are located on both sides of the rotating seat 22 along the first direction, preferably, the jaw mechanism further includes two adapter blocks 25, and the jaw 3 is connected to the rack 24 through the adapter block 25; the adapter block 25 includes a first connecting portion 251 and a second connecting portion 252 spaced along the first direction. The first connecting portion 251 is connected to the middle position of the jaw 3 along the first direction, and the second connecting portion 252 is connected to the rack 24, so that the two jaws 3 are arranged facing each other along the second direction. Among them, by providing the adapter block 25, the force application point of the jaw 3 is located at the middle position of the jaw 3 along the first direction, and the force application points of the two jaws 3 are arranged facing each other along the second direction, so that the clamping force acts on the object to the greatest extent, ensuring the reliability of the clamped object. In this embodiment, the first connecting portion 251 extends along the third direction, the second connecting portion 252 extends along the second direction, and a connecting portion extending along the first direction is provided between the first connecting portion 251 and the second connecting portion 252. The projection of the adapter block 25 along the first direction, the second direction, and the third direction is in an L shape.

[0049] As Figure 2 and Figure 5As shown, in this embodiment, one of the rack 24 and the second connecting portion 252 is provided with a positioning groove 241, and the other is provided with a positioning protrusion 2521, and the positioning protrusion 2521 can be embedded in the positioning groove 241, thereby improving the installation accuracy of the rack 24 and the adapter block 25. In this embodiment, the second connecting portion 252 is provided with a positioning protrusion 2521, and the rack 24 is provided with a positioning groove 241. Further, the second connecting portion 252 is provided with two first through holes 2522, and the two first through holes 2522 are located on both sides of the positioning groove 241, and the rack 24 is provided with two first threaded holes 244, and the first screw is passed through the first through hole 2522 and is threadedly connected to the first threaded hole 244, so as to realize the connection of the second connecting portion 252 to the rack 24. The first connection part 251 is provided with two second threaded holes 2511, and the clamping jaw 3 is provided with two second through holes. The second screw is passed through the second through holes and is threadedly connected to the second threaded holes 2511, so that the first connection part 251 is connected to the clamping jaw 3. The clamping jaw 3 is detachably connected to the first connection part 251, which is convenient for replacing the clamping jaw 3 to meet production needs.

[0050] In this embodiment, when two adjacent follower bearings are switched, the rack 24 remains in engagement with the two engagement members 23 , ensuring that the adjacent engagement members 23 are effectively switched.

[0051] In this embodiment, Figures 2 - 4 As shown, the clamping mechanism also includes a cover plate 4, which is detachably connected to the fixing seat 1, a flange 242 is provided on the side wall of the rack 24, a first avoidance hole 13 is provided at the bottom of the slide groove 11, and a second avoidance hole 41 is provided on the cover plate 4. The flange 242 is located between the bottom of the slide groove 11 and the end face of the second avoidance hole 41, and one end of the rack 24 with a driving groove 243 is penetrated through the first avoidance hole 13; the end of the rack 24 away from the driving groove 243 is penetrated through the second avoidance hole 41. During assembly, one end of the rack 24 provided with a driving groove 243 is passed through the first avoidance hole 13, and the flange 242 overlaps the bottom of the groove of the slide groove 11, and then the cover plate 4 is connected to the fixed seat 1. At this time, the end of the rack 24 away from the driving groove 243 is passed through the second avoidance hole 41, and the end face of the second avoidance hole 41 is crimped to the flange 242, so that the rack 24 is fixed in the slide groove 11, and the first avoidance hole 13 and the second avoidance hole 41 do not interfere with the movement of the rack 24 along the second direction.

[0052] In this embodiment, the cover plate 4 is provided with three countersunk holes 43 , the fixing seat 1 is provided with three third threaded holes 15 , screws are passed through the countersunk holes 43 and threadedly connected to the third threaded holes 15 , so that the cover plate 4 can be detachably connected to the fixing seat 1 .

[0053] Preferably, the fixed seat 1 is provided with an edge groove 14 extending circumferentially, and the cover plate 4 is provided with an edge boss 42 corresponding to the edge groove 14. The edge boss 42 can be embedded in the edge groove 14, improving the connection accuracy between the cover plate 4 and the fixed seat 1 and the assembly convenience.

[0054] Further, a receiving cavity 12 is provided on the side of the fixed seat 1 facing away from the cover plate 4. One end of the rack 24 provided with a driving groove 243 penetrates through the first avoidance hole 13 and is located in the receiving cavity 12. The rotating seat 22 and the engaging member 23 are located in the receiving cavity 12, and the motor 21 is connected to the side of the fixed seat 1 facing away from the cover plate 4. In this embodiment, an opening is provided on the side of the receiving cavity 12 facing away from the cover plate 4. The rotating seat 22 and the engaging member 23 extend into the receiving cavity 12 through the opening, and the motor 21 is connected to the end face of the opening. In this embodiment, the motor 21 can be connected to the end face of the opening by screws.

[0055] In this embodiment, the rotating seat 22 is connected to the output shaft of the motor 21 by screws, realizing the fixed connection between the motor 21 and the rotating seat 22. The output shaft of the motor 21 is provided with a first positioning hole 211, and the rotating seat 22 is provided with a second positioning hole 221. The pin is inserted through the first positioning hole 211 and the second positioning hole 221, improving the assembly accuracy between the rotating seat 22 and the motor 21 and the assembly reliability between the rotating seat 22 and the motor 21. In this embodiment, the rotating seat 22 and the motor 21 are positioned by two pins and are detachably connected by six screws.

[0056] Preferably, as Figure 4 and Figure 5 shown, a flange 5 is detachably installed at one end of the motor 21 facing away from the rotating seat 22. The flange 5 is fixed to the tail end of the motor 21 by screws. The flange 5 is provided with a hexagonal connection groove 51. The hexagonal connection groove 51 is a universal end structure interface, and the jaw mechanism is connected to the main body of the robotic arm through the flange 5.

[0057] It should be noted particularly that when the motor 21 rotates, with the torque of the motor 21 remaining unchanged, the distances between the two jaws 3 are different, and the clamping forces of the motor 21 transmitted to the jaws 3 at different positions are different. In order to keep the jaw mechanism with a constant force when clamping different items, this embodiment also provides a method for controlling the clamping force of the jaw mechanism. Using the above-mentioned jaw mechanism, it includes the following steps:

[0058] S1. Set the required clamping force of the jaw 3;

[0059] S2. Calculate the required torque of the motor 21 through the following formula

[0060]

[0061] Among them, τ is the required torque of the motor 21; F is the required clamping force of the jaw 3; R is the radius of the distribution circle of all meshing parts 23; A is the number of the meshing part 23 that drives the rack 24 to move; α offset is the offset radian between the line connecting the axes of the first meshing part 23 and the motor 21 and the first direction when the jaw 3 is in the closed state. In this embodiment, α offset is 0.1089 rad; α is the rotation radian of the motor 21 relative to α offset In this embodiment, when the jaw 3 is in the closed state, α is 0, and when the maximum opening distance of the jaw 3 is 100 mm, α is 2.8155 rad;

[0062] In this embodiment, R is a constant; A is a variable. When the jaw 3 is closed, the number of the meshing part 23 that drives the rack 24 to move is 0; α offset is a constant; α is a variable, and the range of α is related to the maximum stroke of the jaw 3;

[0063] S3. Control the magnitude of the current of the motor 21 so that the motor 21 reaches the required torque.

[0064] When the jaw 3 clamps an object, according to the rotation radian α value of the motor 21 at this time and the required clamping force F value, calculate the torque required by the motor 21, and then adjust the current of the motor 21 so that the motor 21 reaches the required torque, ensuring that the jaw 3 can maintain a constant force clamping when clamping objects of different sizes and improving the performance of the jaw mechanism. Of course, in other embodiments, the torque of the motor 21 can be controlled to achieve precise control of any clamping force of the jaw 3.

[0065] Note that the above is only the preferred embodiment of the present invention and the technical principles applied. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described here. Various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments. Without departing from the concept of the present invention, more other equivalent embodiments can be included, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A jaw mechanism, characterized in that, Comprising: A fixed seat (1) which is provided with two sliding grooves (11) at intervals along a first direction, and the sliding grooves (11) extend along a second direction; A driving assembly (2) which includes a motor (21), a rotating seat (22), a plurality of engaging members (23) and two racks (24). The motor (21) is used to drive the rotating seat (22) to rotate. The plurality of engaging members (23) are evenly arranged at intervals in the circumferential direction on the side of the rotating seat (22) facing away from the motor (21). The two racks (24) are slidably connected to the sliding grooves (11). A plurality of driving grooves (243) are arranged at intervals along the second direction on the side where the two racks (24) are close to each other. The engaging members (23) on both sides along the first direction are respectively engaged with the driving grooves (243) of the two racks (24); Two clamping jaws (3), and the two clamping jaws (3) are respectively connected to the racks (24) so that when the rotating seat (22) rotates, the two clamping jaws (3) can be driven to approach or separate from each other along the second direction.

2. The jaw mechanism according to claim 1, wherein The engaging member (23) is a follower bearing, the follower bearing is detachably connected to the rotating seat (22), and the follower bearing is in rolling engagement with the inner wall of the driving groove (243).

3. The jaw mechanism according to claim 1, wherein The clamping jaw mechanism further includes two adapter blocks (25), and the clamping jaws (3) are connected to the racks (24) through the adapter blocks (25); the adapter blocks (25) include a first connecting portion (251) and a second connecting portion (252) spaced along the first direction. The first connecting portion (251) is connected to the middle position of the clamping jaw (3) along the first direction, and the second connecting portion (252) is connected to the rack (24) so that the two clamping jaws (3) are arranged facing each other along the second direction.

4. The jaw mechanism according to claim 3, characterized in that, One of the rack (24) and the second connecting portion (252) is provided with a positioning groove (241), and the other is provided with a positioning protrusion (2521), and the positioning protrusion (2521) can be embedded in the positioning groove (241).

5. The jaw mechanism according to claim 1, wherein The clamping jaw mechanism further includes a cover plate (4), the cover plate (4) is detachably connected to the fixed seat (1). A flange (242) is provided on the side wall of the rack (24), a first avoiding hole (13) is provided at the bottom of the sliding groove (11), a second avoiding hole (41) is provided on the cover plate (4), the flange (242) is located between the bottom of the sliding groove (11) and the end face of the second avoiding hole (41), and one end of the rack (24) provided with the driving groove (243) penetrates through the first avoiding hole (13); the end of the rack (24) facing away from the driving groove (243) penetrates through the second avoiding hole (41).

6. The jaw mechanism according to claim 5, characterized in that, On one side of the fixed seat (1) facing away from the cover plate (4), there is a receiving cavity (12). One end of the rack (24) provided with the driving groove (243) penetrates through the first avoidance hole (13) and is located in the receiving cavity (12). The rotating seat (22) and the engaging member (23) are located in the receiving cavity (12). The motor (21) is connected to one side of the fixed seat (1) facing away from the cover plate (4).

7. The jaw mechanism according to claim 5, wherein, The fixed seat (1) is provided with an edge groove (14) extending circumferentially. The cover plate (4) is provided with an edge boss (42) corresponding to the edge groove (14). The edge boss (42) can be embedded in the edge groove (14).

8. The jaw mechanism according to claim 1, wherein A flange plate (5) is detachably installed at one end of the motor (21) facing away from the rotating seat (22).

9. A robotic arm, characterized in that, It includes a robotic arm main body and a jaw mechanism according to any one of claims 1-8. The jaw mechanism is arranged at the end of the robotic arm main body.

10. A clamping force control method, characterized in that, Adopting a jaw mechanism according to any one of claims 1-8, comprising the following steps: S1. Set the required clamping force of the jaws (3). S2. Calculate the required torque of the motor (21) through the following formula Among them, τ is the required torque of the motor (21); F is the required clamping force of the gripper (3); R is the radius of the distribution circle of all meshing parts (23); A is the number of the meshing part (23) that drives the rack (24) to move; α offset is the offset radian of the line connecting the axes of the first meshing part (23) and the motor (21) with the first direction when the gripper (3) is in the closed state; α is the rotation radian of the motor (21) relative to α offset ; S3. Control the magnitude of the current of the motor (21) so that the motor (21) reaches the required torque.

Images