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

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 .

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 ...

AI Technical Summary

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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