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CN-121973186-A - Clamping jaw device, clamping jaw control method and robot

CN121973186ACN 121973186 ACN121973186 ACN 121973186ACN-121973186-A

Abstract

The application relates to the technical field of robots, and discloses a clamping jaw device, a clamping jaw control method and a robot. The clamping jaw device comprises a base body, a driving module, a control module and a driving module, wherein at least two clamping jaw modules are movably arranged on the base body, each clamping jaw module is provided with a switchable parallel clamping mode and an enveloping clamping mode, a motor is arranged in the driving module, the driving module is arranged on the base body and is respectively in driving connection with the at least two clamping jaw modules and is used for driving the at least two clamping jaw modules to synchronously execute the parallel clamping mode or the enveloping clamping mode, the control module is in communication connection with the motor and is provided with a switchable position control mode and a switchable moment control mode, and the clamping jaw device is based on a current feedback control mechanism, achieves accurate control of clamping force, is good in expansibility, simplifies structure and control logic, reduces hardware cost, is higher in system reliability, and can guarantee safety when a precise object or a vulnerable object is grabbed.

Inventors

  • MA DEFU
  • SHE LINGJUAN
  • HU YUAN
  • FU LING
  • ZENG GUANG

Assignees

  • 中科云谷科技有限公司

Dates

Publication Date
20260505
Application Date
20251230

Claims (10)

  1. 1. A jaw apparatus, comprising: A base (100); At least two clamping jaw modules (200) are movably arranged on the base body (100), and the clamping jaw modules (200) are provided with a switchable parallel clamping mode and an enveloping clamping mode; The driving module (300) is internally provided with a motor, and the driving module (300) is arranged on the base body (100) and is respectively in driving connection with at least two clamping jaw modules (200) and is used for driving the at least two clamping jaw modules (200) to synchronously execute the parallel clamping mode or the enveloping clamping mode; The control module is in communication connection with the motor and is provided with a switchable position control mode and a moment control mode; The control module is configured to acquire the working current of the motor when the parallel clamping mode is executed, switch the position control mode to the moment control mode and control the working current of the motor to be maintained within a first safety threshold when the working current reaches a first working threshold within a first preset time, and switch the position control mode to the moment control mode and control the working current of the motor to be maintained within a second safety threshold when the working current reaches a second working threshold within a second preset time when the envelope clamping mode is executed.
  2. 2. A jaw apparatus according to claim 1, characterized in that the drive module (300) comprises A joint module (310) in which the motor is incorporated; The mechanical transmission module (320), the input side of mechanical transmission module (320) with the output drive connection of joint module (310), the output side of mechanical transmission module (320) with clamping jaw module (200) drive connection.
  3. 3. A jaw apparatus according to claim 2, characterized in that said mechanical transmission module (320) comprises: The transmission flange (321) is in transmission connection with the output end of the joint module (310); The transmission shaft (322) is rotatably arranged in the base body (100), and the transmission shaft (322) is inserted on the transmission flange (321) and is in transmission fit with the transmission flange (321); The worm section 3220 is constructed on the shaft body of the transmission shaft 322, and the clamping jaw module 200 is provided with a turbine structure which is meshed with the worm section 3220 for transmission.
  4. 4. The jaw apparatus according to claim 1, wherein the jaw module (200) comprises: the metamorphic mechanism (210) is arranged on the base body (100) and is in running fit with the base body (100), the metamorphic mechanism (210) is in driving connection with the driving module (300) and has a switchable parallel deflection mode and a bending deformation mode, wherein the parallel deflection mode corresponds to the row clamping mode, and the bending deformation mode corresponds to the envelope clamping mode; and a clamping finger (220) arranged on the metamorphic mechanism (210).
  5. 5. The jaw apparatus according to claim 4, wherein said metamorphic mechanism (210) comprises: a first metamorphic crank (211) hinged on the base body (100) and in driving connection with the driving module (300), wherein the first metamorphic crank (211) and the first hinge part (2110) with decoupling function are arranged on the first metamorphic crank; A second metamorphic crank (212) hinged on the base body (100) and arranged on the inward side of the first metamorphic crank (211), the second metamorphic crank (212) and the upper part having a second hinge part (2120) which can be decoupled; The two ends of the driving connecting rod (213) are respectively hinged with one end, far away from the base body (100), of the first metamorphic crank (211) and one end, far away from the base body (100), of the second metamorphic crank (212), and the clamping finger (220) is arranged on the driving connecting rod (213); Wherein upon completion of decoupling of the first hinge (2110) and the second hinge (2120), the metamorphic mechanism (210) is switched from the parallel deflection mode to the bending deformation mode.
  6. 6. The jaw apparatus according to claim 5, wherein said first metamorphic crank (211) comprises a first crank member (2111), a second crank member (2112) and a decoupling pin (2113), said first crank member (2111) being hingedly connected to said second crank member (2112) to form said first hinge (2110), an end of said first crank member (2111) remote from said second crank member (2112) being hinged to said base body (100) and in driving connection with said driving module (300), an end of said second crank member (2112) remote from said first crank member (2111) being hinged to said driving link (213); wherein the decoupling pin (2113) is arranged at the first hinge (2110) and detachably connects the first crank member (2111) and the second crank member (2112) when the first hinge (2110) is not decoupled.
  7. 7. The jaw apparatus of claim 5, wherein said second metamorphic crank (212) includes a third crank member (2121), a fourth crank member (2122) and a damping member (2123), said third crank member (2121) being hingedly connected to said fourth crank member (2122) to form said second hinge (2120), an end of said third crank member (2121) remote from said fourth crank member (2122) being hinged to said base (100), an end of said fourth crank member (2122) remote from said third crank member (2121) being hinged to said drive link (213), said damping member (2123) being disposed at a hinge between said third crank member (2121) and said fourth crank member (2122) and providing elastic resistance; wherein the second articulation (2120) completes the decoupling when the rotational moment between the third crank member (2121) and the fourth crank member (2122) is greater than the resistive moment provided by the damping member (2123).
  8. 8. A jaw control method, characterized by being applied to a jaw apparatus according to any one of claims 1-7, comprising a parallel clamping method and a envelope clamping method; the parallel clamping method comprises the following steps: Switching the clamping jaw module (200) to the parallel clamping mode, and controlling the motor to operate in the position control mode when the clamping jaw module (200) is not contacted with an object to be clamped; Under the condition that the working current of the motor reaches a first working threshold value within a first preset time, switching the position control mode to the moment control mode and controlling the working current of the motor to be maintained within a first safety threshold value; the envelope clamping method comprises the following steps: switching the clamping jaw module (200) to the enveloping clamping mode, and controlling the motor to operate in the position control mode when the clamping jaw module (200) is not contacted with an object to be clamped; And under the condition that the working current of the motor reaches a second working threshold value within a second preset time, switching the position control mode to the moment control mode and controlling the working current of the motor to be maintained within a second safety threshold value.
  9. 9. The jaw control method of claim 8, wherein the parallel clamping method and the envelope clamping method each further comprise: And when the working current of the motor reaches a target threshold value, controlling the motor to stop working so as to enable the clamping jaw module (200) to keep clamping the object.
  10. 10. A robot comprising a jaw arrangement according to any one of claims 1-7.

Description

Clamping jaw device, clamping jaw control method and robot Technical Field The application belongs to the technical field of robots, and particularly relates to a clamping jaw device, a clamping jaw control method and a robot. Background With the rapid development of the fields of intelligent manufacturing, service robots and special operations, the manipulator is used as a core component for executing grabbing and operating tasks, and higher requirements are put on the flexibility of the operation, the environmental adaptability and the grabbing stability. The traditional rigid clamping jaw has the problems of poor grabbing stability, insufficient adaptability and the like when facing objects with complex shapes, various materials or easy damage, and the flexible mechanical arm has certain compliance, but has the defects in the aspects of force control precision and structure controllability. For this purpose, the prior art has developed a solution for combining the two, namely a rigid section and a flexible section arranged one after the other in the depth direction of the clamping jaw. The flexible section mainly relies on material elastic deformation to produce passive envelope, in order to ensure that the centre gripping is stable, still can set up fingertip force transducer or joint side force transducer again and carry out the detection to the contact force of centre gripping object, still need dispose extra communication interface for this reason, leads to the mechanical structure of whole clamping jaw itself more complicated, increases control logic's complexity simultaneously, and the cost is higher, and scalability is poor. Disclosure of Invention The application aims to provide a clamping jaw device, a clamping jaw control method and a robot, which are used for solving the problems that the structure and control logic are complex, the cost is increased and the expansibility is poor because the contact force of a clamping object is detected by the existing clamping jaw through the arrangement of a fingertip force sensor or a joint side force sensor. To achieve the above object, a first aspect of the present application provides a jaw apparatus comprising: a base; the clamping jaw modules are movably arranged on the base body and are provided with a switchable parallel clamping mode and an enveloping clamping mode; the driving module is internally provided with a motor, is arranged on the base body and is respectively in driving connection with at least two clamping jaw modules, and is used for driving the at least two clamping jaw modules to synchronously execute the parallel clamping mode or the enveloping clamping mode; The control module is in communication connection with the motor and is provided with a switchable position control mode and a moment control mode; The control module is configured to acquire the working current of the motor when the parallel clamping mode is executed, switch the position control mode to the moment control mode and control the working current of the motor to be maintained within a first safety threshold when the working current reaches a first working threshold within a first preset time, and switch the position control mode to the moment control mode and control the working current of the motor to be maintained within a second safety threshold when the working current reaches a second working threshold within a second preset time when the envelope clamping mode is executed. As a further improvement of the above technical scheme: in some embodiments, the drive module includes The joint module is internally provided with the motor; The mechanical transmission module is characterized in that the input side of the mechanical transmission module is in driving connection with the output end of the joint module, and the output side of the mechanical transmission module is in driving connection with the clamping jaw module. In some embodiments, the mechanical transmission module comprises: the transmission flange is in transmission connection with the output end of the joint module; The transmission shaft is rotatably arranged in the base body, is inserted into the transmission flange and is in transmission fit with the transmission flange; the clamping jaw module is provided with a turbine structure which is meshed with the worm section for transmission. In some embodiments, the jaw module comprises: The metamorphic mechanism is arranged on the base body and is in running fit with the base body, and is in driving connection with the driving module and is provided with a switchable parallel deflection mode and a bending deformation mode, wherein the parallel deflection mode corresponds to the row clamping mode, and the bending deformation mode corresponds to the envelope clamping mode; and the clamping finger is arranged on the metamorphic mechanism. In some embodiments, the metamorphic mechanism comprises: the first metamorphic crank is hinged on the base body and is