Electromagnetic mechanical paw with adjustable clamping force and application method thereof

Abstract

The invention discloses an electromagnetic mechanical paw with adjustable clamping force. The electromagnetic mechanical paw comprises a left paw, a right paw, a left permanent magnet, a right permanent magnet, an electromagnet, a single chip microcomputer and an electromagnet power supply circuit, wherein the left paw and the right paw are connected, have the same structure and are in bilateral symmetry; the left permanent magnet is arranged below the left paw; the right permanent magnet is arranged below the right paw; the electromagnet is arranged between the left permanent magnet and the right permanent magnet; the single chip microcomputer is connected with the electromagnet power supply circuit; and a current on the electromagnet power supply circuit can be adjusted. The invention further discloses an application method of the electromagnetic mechanical paw with adjustable clamping force. The method comprises the process of establishment of a resistance database of the electromagnetic mechanical paw and dynamic regulation in practical application. According to the electromagnetic mechanical paw, the current introduced into an electromagnet coil is controlled through changing the resistance of a programmable resistor, the grabbing clamping force of the paw can be controlled, an electromagnetic system is adopted, heavy air pumps and hydraulic devices are eliminated, and the size is decreased.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to an electromagnetic mechanical gripper 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 manipulator end effectors for different purposes need to be further developed. Most of the existing mechanical grippers 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 gripping force is different. If the force is too small, the object will easily slip, and if the force is too large, the object will be deformed, causing damage to the object body and waste of resources. [0003] The patent application with application number 201510092211.7 dis...

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Problems solved by technology

[0005] In order to avoid the disadvantages of the above-mentioned prior art, the present invention provides an electromagnetic mechanical gripper whose gripping force can be automatically adjusted and its application method, so as to solve the problem that the existing pneumatic gripper needs to carry an air pump, and the gripping force is not enough. Good control, low efficiency and high cost

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