CN111168713B

CN111168713B - Electromagnetic propulsion mechanism and clamping device

Info

Publication number: CN111168713B
Application number: CN202010095712.1A
Authority: CN
Inventors: 梁风勇; 陈祝权; 李叶松; 王英乾; 王健飞; 覃国华; 杨雄
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-02-17
Filing date: 2020-02-17
Publication date: 2021-10-08
Anticipated expiration: 2040-02-17
Also published as: CN111168713A

Abstract

The invention relates to an electromagnetic propulsion mechanism and a clamping device, comprising: a fixed electrode; the propelling electrode is arranged on the fixed electrode, and the fixed electrode is used for outputting electromagnetic force to drive the propelling electrode to slide on the fixed electrode; and the driving arm group is in driving connection with the propelling electrode and is used for synchronously stretching and sliding along with the propelling electrode. The electromagnetic propulsion mechanism of this scheme adopts that intangible electromagnetic force acts on between fixed electrode and the propulsion electrode, makes propulsion electrode and fixed electrode take place the realization that slides each other, and consequently not only response speed is fast to the rigidity is strikeed for a short time, and the ability of resisting external impact is showing and is improving, more to breakable material, can effectively prevent to press from both sides garrulous problem and take place, promotes the under-actuated manipulator operational reliability.

Description

Electromagnetic propulsion mechanism and clamping device

Technical Field

The invention relates to the technical field of mechanical arms, in particular to an electromagnetic propelling mechanism and a clamping device.

Background

In the mechanical industry, a manipulator is generally adopted to clamp or release materials. For the reasons of improving the integration and compactness of system design, the number of actuators (such as driving motors) is usually reduced, and thus an underactuated scheme is formed, wherein the number of actuators is less than the number of degrees of freedom of a manipulator.

At present, the underactuated manipulators which are widely applied are divided into a traditional manipulator and a soft manipulator. However, in any type of manipulator, the power device generally adopts a mechanical structure of a screw nut pair, that is, the rotary motion of a motor is converted into the linear reciprocating motion of the manipulator. Due to the influence of factors such as machining precision and assembly precision errors, the mechanical driving structure of the screw-nut pair has the defects of high rigid impact, low response speed and weak external impact resistance, so that the problems that articles are clamped and broken easily occur.

Disclosure of Invention

Based on this, it is necessary to provide an electromagnetic propulsion mechanism and a material clamping device, and the electromagnetic propulsion mechanism and the material clamping device are used for solving the problems of large rigid impact, low response speed and weak external impact resistance in the prior art.

The technical scheme is as follows:

in one aspect, the present application provides an electromagnetic propulsion mechanism comprising:

a fixed electrode;

the propelling electrode is arranged on the fixed electrode, and the fixed electrode is used for outputting electromagnetic force to drive the propelling electrode to slide on the fixed electrode; and

and the driving arm group is in driving connection with the propelling electrode and is used for synchronously stretching and sliding along with the propelling electrode.

The electromagnetic propulsion mechanism of the scheme is applied to and equipped in the material clamping device, and is particularly used for being assembled and matched with the under-actuated manipulator to provide driving force for clamping or loosening the material by the under-actuated manipulator. Specifically, the electromagnetic propulsion mechanism is electrically connected with the power control device during operation, namely, the fixed electrode is electrically connected with the power control device well so as to obtain electric energy required by operation. When the fixed electrode is electrified, the fixed electrode can generate electromagnetic force, the propelling electrode can slide on the fixed electrode under the driving of the electromagnetic force, and the corresponding driving arm group can also synchronously perform telescopic sliding; in other words, when the fixed electrode is powered on and the driving arm set slides and extends, the under-actuated manipulator pre-installed on the driving arm set approaches and clamps the material, and when the fixed electrode is powered off and the driving arm set retracts by self-weight, the under-actuated manipulator loosens the material. Compare in tradition adoption mechanical drive structure, what the electromagnetic propulsion mechanism of this scheme adopted is that intangible electromagnetic force acts on between fixed electrode and the propulsion electrode, makes propulsion electrode and fixed electrode take place to slide each other and realize, consequently not only response speed is fast to the rigidity is strikeed for a short time, and the ability of resisting external impact is showing and is improving, more to breakable material, can effectively prevent to press from both sides garrulous problem and take place, promotes under-actuated manipulator operational reliability.

The technical solution of the present application is further described below:

in one embodiment, the propelling electrode is sleeved outside the fixed electrode, the fixed electrode comprises a first S pole body and a first N pole body which are coaxially connected, the propelling electrode comprises a second S pole body and a second N pole body which are coaxially connected, and the first N pole body is used for attracting the second S pole body and repelling the second N pole body; the first S pole body and the second S pole body are mutually repulsive and mutually attractive.

In one embodiment, the number of the first S pole bodies and the number of the first N pole bodies are at least two and are coaxially connected, and the first S pole bodies and the first N pole bodies are alternately arranged one by one.

In one embodiment, the fixed electrode further comprises a fixed rod, and all the first S-pole bodies and the first N-pole bodies are sleeved on the fixed rod; or any two adjacent first S pole bodies and first N pole bodies are bonded through a first bonding piece.

In one embodiment, the end of the fixing rod is provided with an end baffle, and the end baffle is in limit fit with the propelling electrode.

In one embodiment, the propelling electrode further comprises a fixed cylinder, and the second S-pole body and the second N-pole body are sleeved and fixed on the inner wall of the fixed cylinder; or the second S pole body and the second N pole body are bonded through a second bonding piece.

In one embodiment, the pusher electrode is a clearance fit with the stationary electrode.

In one embodiment, the electromagnetic propulsion mechanism further includes a first mounting seat, the fixed electrode is disposed on the first mounting seat, and the driving arm set is rotatably disposed on the first mounting seat.

In one embodiment, the electromagnetic propulsion mechanism further includes a second mounting seat, the second mounting seat is rotatably connected with one end of the driving arm group far away from the first mounting seat, and the second mounting seat can be close to or far away from the first mounting seat.

In one embodiment, the driving arm set comprises a driving arm unit, the driving arm unit comprises a first driving arm, one end of the first driving arm is connected with the propelling electrode, and the other end of the first driving arm is connected with the second mounting seat.

In one embodiment, the driving arm unit further includes a second driving arm and a third driving arm, one end of the first driving arm is hinged to the propelling electrode, the other end of the first driving arm is hinged to the second driving arm, one end of the second driving arm is hinged to the first mounting seat, the other end of the second driving arm is hinged to one end of the third driving arm, and the other end of the third driving arm is hinged to the second mounting seat.

In one embodiment, the middle part of the third driving arm is further provided with an optional hinge part, and the end part of the second driving arm, which is far away from the first mounting seat, is used for being hinged with the optional hinge part, so that the electromagnetic propulsion mechanism can be switched among different working modes to meet different working condition requirements.

In one embodiment, the number of the optional hinge parts is at least two, and the optional hinge parts are arranged along the length direction of the third driving arm.

In one embodiment, the driving arm units are two and symmetrically connected to two opposite sides of the propelling electrode.

In one embodiment, the electromagnetic propulsion mechanism further includes an elastic resetting member, one end of the elastic resetting member is connected to the driving arm set or the second mounting seat, and the other end of the elastic resetting member is connected to the first mounting seat.

In addition, this application still provides a material clamping device, and it includes underactuated manipulator and as above the electromagnetism advancing mechanism, underactuated manipulator with the electromagnetism advancing mechanism is connected.

Drawings

Fig. 1 is a schematic structural diagram of an electromagnetic propulsion mechanism according to an embodiment of the present invention;

fig. 2 is a schematic view of an operating principle of an electromagnetic propulsion mechanism according to an embodiment of the present invention.

Description of reference numerals:

10. a fixed electrode; 11. a first S-pole body; 12. a first N-pole body; 13. fixing the rod; 20. a pusher electrode; 21. a second S pole body; 22. a second N-pole body; 30. a drive arm unit; 31. a first drive arm; 32. a second drive arm; 33. a third drive arm; 34. the hinge part is rotatably installed; 40. a first mounting seat; 50. and a second mounting seat.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.

It will be understood that when an element is referred to as being "secured to," "disposed on" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present; the specific manner of fixedly connecting one element to another element can be implemented by the prior art, and will not be described herein, and preferably, a screw-threaded connection is used.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The terms "first" and "second" used herein do not denote any particular order or quantity, but rather are used to distinguish one element from another.

The application claims a clamping device for clamping, transferring and releasing various materials to assist a processing device to complete processing operation. The material clamping device is mainly formed by assembling three main components, namely a power control device, an under-actuated mechanical arm and an electromagnetic propulsion mechanism, and some accessory components, wherein the electromagnetic propulsion mechanism is electrically connected with the power control device, and the under-actuated mechanical arm is in driving connection with the electromagnetic propulsion mechanism.

It will be appreciated that the under-actuated robot may be a conventional rigid mechanical structure robot or a soft robot, depending on the actual requirements.

As shown in fig. 1, an electromagnetic propulsion mechanism shown for an embodiment of the present application includes: first mount 40, second mount 50, fixed electrode 10, propulsion electrode 20, and drive armset. The fixed electrode 10 is disposed on the first mounting seat 40. Alternatively, the fixed electrode 10 is a column or rod structure, and is vertically installed at a middle position of the first installation seat 40. The driving arm set is rotatably arranged on the first mounting seat 40 and is arranged outside the fixed electrode 10. The first mounting seat 40 is used for assembling and connecting with a power driving device, so that the fixed electrode 10 can obtain electric energy from the power driving device to generate electromagnetic force.

The second mounting seat 50 is rotatably connected with one end of the driving arm group far away from the first mounting seat 40, and the second mounting seat 50 can be close to or far away from the first mounting seat 40. The second mounting seat 50 is used for bearing and fixing the under-actuated manipulator and driving the under-actuated manipulator to be close to or far away from the material.

The propelling electrode 20 is arranged on the fixed electrode 10, and when the fixed electrode 10 is electrified, the fixed electrode 10 is used for outputting electromagnetic force to drive the propelling electrode 20 to slide on the fixed electrode 10; the driving arm set is in driving connection with the propelling electrode 20 and is used for synchronously stretching and sliding along with the propelling electrode 20.

To sum up, the implementation of the technical scheme of the application has the following beneficial effects: the electromagnetic propulsion mechanism of the scheme is applied to and equipped in the material clamping device, and is particularly used for being assembled and matched with the under-actuated manipulator to provide driving force for clamping or loosening the material by the under-actuated manipulator. Specifically, the electromagnetic propulsion mechanism is electrically connected to the power control device during operation, that is, the fixed electrode 10 is electrically connected to the power control device to obtain the electric energy required for operation. When the fixed electrode 10 is electrified, the fixed electrode 10 can generate electromagnetic force, the propelling electrode 20 can slide on the fixed electrode 10 under the driving of the electromagnetic force, and the corresponding driving arm group can also synchronously perform telescopic sliding; in other words, when the driving arm assembly slides and extends after the fixed electrode 10 is powered on, the under-actuated manipulator pre-installed on the driving arm assembly approaches and clamps the material, and when the driving arm assembly retracts by self-weight after the fixed electrode 10 is powered off, the under-actuated manipulator loosens the material. Compared with the traditional mechanical driving structure, the electromagnetic propelling mechanism of the scheme has the advantages that the intangible electromagnetic force is applied between the fixed electrode 10 and the propelling electrode 20, the propelling electrode 20 and the fixed electrode 10 slide mutually to realize, so that the response speed is high, the rigid impact is small, the external impact resistance is obviously improved, the problem of clamping breakage can be effectively prevented from occurring on fragile materials, and the working reliability of the under-actuated manipulator is improved.

It should be noted that the magnitude of the electromagnetic force generated on the fixed electrode 10 is related to the magnitude of the output current of the power driving apparatus. That is, when the output current is large, the electromagnetic force generated by the fixed electrode 10 is also increased accordingly, and at this time, the driving action of the electromagnetic force on the propelling electrode 20 is significant, and the action response speed and the moving speed of the propelling electrode 20 are also high. Vice versa, but the electric current size reduces and can make the electric quantity that consumes less, and electromagnetic propulsion mechanism can be in low energy consumption mode operation at this moment, guarantees that the mechanism operation is more economical.

In order to ensure reliable assembly and relative sliding, the propelling electrode 20 is preferably designed as a cylindrical structure, so that the propelling electrode 20 can be sleeved outside the fixed electrode 10. In order to reduce the friction resistance and abrasion when the propelling electrode 20 and the fixed electrode 10 slide relatively, the propelling electrode 20 and the fixed electrode 10 are in clearance fit. However, it should be noted that the gap value is not too large, otherwise the push electrode 20 is liable to generate deflection or flutter relative to the fixed electrode 10, which affects the material gripping accuracy of the underactuated manipulator.

With reference to fig. 1 and fig. 2, in an embodiment, the fixed electrode 10 includes a first S-pole body 11 and a first N-pole body 12 that are coaxially connected, the propelling electrode 20 includes a second S-pole body 21 and a second N-pole body 22 that are coaxially connected, and the first N-pole body 12 is configured to attract the second S-pole body 21 and repel the second N-pole body 22; the first S-pole body 11 and the second S-pole body 21 repel each other, and attract each other with the second N-pole body 22. When the electromagnetic propulsion mechanism is in the initial position, the propulsion electrode 20 is located at the bottom end of the fixed electrode 10, i.e. when the second south pole body 21 and the second north pole body 22 are located behind the first north pole body 12, the first south pole body 11 is located farther away from the propulsion electrode 20. When the fixed electrode 10 is powered on, the first N-pole body 12 will generate a magnetic attraction force to the second S-pole body 21, so that the propelling electrode 20 is attracted to slide forward; after moving a certain distance, the first S-pole body 11 will gradually oppose the second S-pole body 21, the first N-pole body 12 will gradually oppose the second N-pole body 22, and thus a repulsive force is generated to further push the propelling electrode 20 to propel forward, thereby realizing the stretching deformation of the driving arm set to drive the underactuated manipulator to approach and grab the material. The structural design can generate continuous and reliable electromagnetic force, realizes the quick action of the under-actuated manipulator and is favorable for improving the working beat. In addition, even when the material is subjected to rigid impact or external impact, since there is no direct connection between the propelling electrode 20 and the fixed electrode 10, the electromagnetic propelling mechanism is not damaged by the rigid impact, but only a part of the electromagnetic force is consumed.

Further, in order to increase the moving stroke of the electromagnetic propulsion mechanism, the under-actuated manipulator can grab materials in a longer distance on the occasion with limited space, the number of the first S pole bodies 11 and the number of the first N pole bodies 12 are at least two and are coaxially connected, and the first S pole bodies 11 and the first N pole bodies 12 are alternately arranged one by one. In this way, the fixed electrode 10 can form a constantly changing magnetic pole corresponding relationship with the propelling electrode 20, and further generate a continuously engaged magnetic attraction force and a continuously engaged repulsive force, so as to push the propelling electrode 20 to continuously advance.

With reference to fig. 1, in addition, in an embodiment, the fixed electrode 10 further includes a fixed rod 13, and all of the first S-pole body 11 and the first N-pole body 12 are sleeved on the fixed rod 13; one end of the fixing rod 13 is fixedly installed at the middle of the first installation seat 40, and the other end is directed to the second installation seat 50. The fixing rod 13 can bear and fix each of the first S pole body 11 and the first N pole body 12, so that the first S pole body 11 and the first N pole body 12 are firmly and reliably mounted, and the structural stability of the fixing electrode 10 is high. Optionally, each of the first S pole body 11 and the first N pole body 12 is fixed on the outer wall of the fixing rod 13 by interference.

Alternatively, as an alternative to the above embodiment, any two adjacent first S pole bodies 11 and first N pole bodies 12 may be bonded to each other by a first adhesive. The first S pole body 11 and the first N pole body 12 can be firmly assembled by the adhesive force.

Alternatively, the first adhesive member may be, but is not limited to, glue, double sided tape, and the like.

Further, an end baffle is arranged at the end of the fixing rod 13, and the end baffle is in limit fit with the propelling electrode 20. When the propelling electrode 20 moves to the limit position near the second mounting seat 50, the propelling electrode can be blocked by the end baffle plate to avoid falling off from the fixed electrode 10. The end stop may be integrally formed with the fixing rod 13 or may be detachably assembled. Preferably, the end shield is detachably connected to the fixing rod 13, so that the push electrode 20 can be conveniently detached from the fixing rod 13 during maintenance and replacement.

In addition, in an embodiment, the push electrode 20 further includes a fixed cylinder, and the second S-pole body 21 and the second N-pole body 22 are sleeved and fixed on an inner wall of the fixed cylinder. In this way, the second S pole body 21 and the second N pole body 22 can be firmly fixed on the fixed cylinder, and further can be integrally fixed outside the fixed electrode 10 in a sleeved manner, and finally can be integrally slid and pushed relative to the fixed electrode 10. Or, in another embodiment, the second S pole body 21 and the second N pole body 22 are bonded by a second bonding member, so as to be integrally connected and fixed, and can be integrally sleeved outside the fixed electrode 10 to continuously advance in cooperation with a constantly changing magnetic pole.

Alternatively, the second adhesive member may be, but is not limited to, glue, double sided tape, and the like.

It should be noted that, in the above solution, the manner of driving the propelling electrode 20 to continuously propel by using the characteristic of the magnetic pole change of the plurality of first S pole bodies 11 and first N pole bodies 12 which are alternately arranged is not only unique. In other schemes, the fixed electrode 10 can be directly replaced by a sliding shaft, the propelling electrode 20 is still slidably sleeved on the sliding shaft, a cylinder and a guide electrode in driving connection with the cylinder are installed on the adjacent side of the propelling electrode 20, and the guide electrode can generate magnetic attraction force on the propelling electrode 20 after being electrified. Along with the extension of the piston rod of the cylinder, the guide electrode moves forwards, namely the push electrode 20 can be pulled to slide on the sliding shaft by means of magnetic attraction, so that the technical effect basically the same as or better than that of the scheme is achieved.

Referring to fig. 1, in an embodiment, the driving arm assembly includes a driving arm unit 30, the driving arm unit 30 includes a first driving arm 31, one end of the first driving arm 31 is connected to the propelling electrode 20, and the other end of the first driving arm 31 is connected to the second mounting base 50. Therefore, when the push electrode 20 slides forwards on the fixed electrode 10, the first driving arm 31 can be synchronously driven to push forwards, and the first driving arm 31 can further push the second mounting seat 50 to push forwards, so that the underactuated manipulator approaches and grabs the material.

Further, the driving arm unit 30 further includes a second driving arm 32 and a third driving arm 33, wherein one end of the first driving arm 31 is hinged to the propelling electrode 20, the other end of the first driving arm 31 is hinged to the second driving arm 32, one end of the second driving arm 32 is hinged to the first mounting seat 40, the other end of the second driving arm 32 is hinged to one end of the third driving arm 33, and the other end of the third driving arm 33 is hinged to the second mounting seat 50. At this time, the first driving arm 31, the second driving arm 32 and the third driving arm 33 are mutually matched to form a telescopic hinged link mechanism, the first driving arm 31 transmits transmission force, and the third driving arm 33 can swing relative to the second driving arm 32 to approximately approach to the same straight line, so that the driving arm group is extended and lengthened, and the underactuated manipulator is pushed to approach and grab materials. Or when the push electrode 20 falls back, the first driving arm 31 pushes the second driving arm 32 to swing outwards (away from the fixed electrode 10), the second driving arm 32 pulls the third driving arm 33 to swing, and the third driving arm 33 and the second driving arm 32 form a small-angle V-shaped arrangement, namely, the retraction of the driving arm group is realized, so that the under-actuated manipulator is pulled to be away from and release the material.

In the above scheme, the first driving arm 31, the second driving arm 32 and the third driving arm 33, the second driving arm 32 and the first mounting seat 40, and the third driving arm 33 and the second mounting seat 50 are connected by the hinge structure, so that even if the first driving arm is subjected to the reaction impact force of materials or other external impact forces, the self-protection can be buffered by a rotation collapsing manner, and the self-protection structure is ensured not to be damaged by rigid impact.

It can be understood that the first driving arm 31, the second driving arm 32 and the third driving arm 33, the second driving arm 32 and the first mounting seat 40 and the third driving arm 33 and the second mounting seat 50 are rotatably connected by hinge structures assembled by hinge holes and hinge shafts.

In addition, an optional hinge is further disposed at the middle of the third driving arm 33, and an end of the second driving arm 32 away from the first mounting seat 40 is configured to hinge with the optional hinge. Preferably, the number of the optional hinge portions is at least two, and the optional hinge portions are arranged along the length direction of the third driving arm 33, so that the electromagnetic propulsion mechanism can be switched between different working modes to meet different working condition requirements. Specifically, the rotary hinge 34 is also designed as a hinge hole structure, and two hinge holes in the middle are arranged at intervals; and the two hinge holes at the middle position and the hinge holes at the two end parts of the third driving arm 33 are also arranged at intervals. When the second driving arm 32 is connected with different hinge holes along the direction close to the second mounting seat 50, the force arm formed by the second driving arm 32 and the third driving arm 33 is gradually shortened, so that the required electromagnetic driving force for swinging is smaller and smaller, i.e. the more labor is saved, and the effects of speed reduction and benefit increase can be achieved under the condition of the same electromagnetic thrust. However, when the second driving arm 32 is connected to different hinge holes along a direction away from the second mounting seat 50, the force arm formed by the second driving arm 32 and the third driving arm 33 is gradually lengthened, and at this time, although the required electromagnetic driving force for swinging will gradually increase, the response speed will also increase, so that the effects of increasing speed and reducing force under the same electromagnetic thrust can be achieved. According to the scheme, the electromagnetic propulsion mechanism can enter different working modes, different driving effects formed by the electromagnetic propulsion mechanism can be suitable for different working condition requirements, and the application range and the working capacity of the electromagnetic propulsion mechanism are greatly improved.

In the preferred embodiment, the driving arm units 30 are two and symmetrically connected to two opposite sides of the propelling electrode 20. In this way, the propulsion electrode 20 can receive the balanced acting force applied by the double-side driving arm units 30, so as to prevent the skew and jamming during sliding, and the two driving arm units 30 simultaneously support and drive the second mounting seat 50 and the underactuated manipulator, so that the reliability is higher.

As described in the above embodiment, when the material needs to be discharged, the power supply to the fixed electrode 10 needs to be cut off first, and then the material automatically falls back under the self weight of the underactuated manipulator, the second mounting seat 50, and the like. In order to avoid mechanical jamming, the push electrode 20 cannot be reset along the cabin, or the reset speed is too low, so that the working rhythm and efficiency are influenced. In a further embodiment of the present application, the electromagnetic propulsion mechanism further includes an elastic reset element, one end of the elastic reset element is connected to the driving arm set or the second mounting seat 50, and the other end of the elastic reset element is connected to the first mounting seat 40. When the propelling electrode 20 is propelled to move forward, the elastic resetting piece is in a stretching state; when the fixed electrode 10 is powered off, the push electrode 20 can be rapidly pulled to reset by virtue of the resilience force of the elastic reset piece, namely, the purpose of releasing materials by an underactuated manipulator is realized.

Alternatively, the elastic restoring member may be, but is not limited to, a spring.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The material clamping device is characterized by comprising an under-actuated manipulator and an electromagnetic propulsion mechanism, wherein the under-actuated manipulator is connected with the electromagnetic propulsion mechanism, and the electromagnetic propulsion mechanism is used for being assembled and matched with the under-actuated manipulator and providing driving force for clamping or loosening materials for the under-actuated manipulator;

the electromagnetic propulsion mechanism comprises:

a fixed electrode;

the driving arm group is in driving connection with the propelling electrode and is used for synchronously stretching and sliding along with the propelling electrode; the fixed electrode also comprises a fixed rod, an end baffle is arranged at the end part of the fixed rod, and the end baffle is in limit fit with the propelling electrode; the fixed electrode is arranged as a sliding shaft, the propelling electrode is sleeved on the sliding shaft in a sliding mode, an air cylinder and a guide electrode in driving connection with the air cylinder are arranged on the side, close to the propelling electrode, of the propelling electrode, and the guide electrode can generate magnetic attraction force on the propelling electrode after being electrified; electromagnetic propulsion mechanism still includes first mount pad, fixed electrode set up in on the first mount pad, driving arm group rotate set up in on the first mount pad, electromagnetic propulsion mechanism still includes the second mount pad, the second mount pad with driving arm group keeps away from the one end of first mount pad is rotated and is connected, the second mount pad can be close to or keep away from first mount pad, first mount pad is used for being connected with power drive arrangement, the second mount pad is used for bearing fixed underactuated manipulator.

2. The clamping device according to claim 1, wherein the propelling electrode is sleeved outside the fixed electrode, the fixed electrode comprises a first S pole body and a first N pole body which are coaxially connected, the propelling electrode comprises a second S pole body and a second N pole body which are coaxially connected, and the first N pole body is used for attracting the second S pole body and repelling the second N pole body; the first S pole body and the second S pole body are mutually repulsive and mutually attractive.

3. The material clamping device according to claim 2, wherein the number of the first S pole bodies and the number of the first N pole bodies are at least two and are coaxially connected, and the first S pole bodies and the first N pole bodies are alternately arranged one by one.

4. The clamping device as claimed in claim 3, wherein all of the first S pole body and the first N pole body are sleeved on the fixing rod; or any two adjacent first S pole bodies and first N pole bodies are bonded through a first bonding piece.

5. The material clamping device according to claim 2, wherein the propelling electrode further comprises a fixed cylinder, and the second S pole body and the second N pole body are fixedly sleeved on the inner wall of the fixed cylinder; or the second S pole body and the second N pole body are bonded through a second bonding piece.

6. The clamping device of claim 2, wherein said pusher electrode is in clearance fit with said stationary electrode.

7. The material clamping device as claimed in claim 1, wherein the driving arm set comprises a driving arm unit, the driving arm unit comprises a first driving arm, one end of the first driving arm is connected with the propelling electrode, and the other end of the first driving arm is connected with the second mounting seat.

8. The material clamping device according to claim 7, wherein the driving arm unit further comprises a second driving arm and a third driving arm, one end of the first driving arm is hinged to the propelling electrode, the other end of the first driving arm is hinged to the second driving arm, one end of the second driving arm is hinged to the first mounting seat, the other end of the second driving arm is hinged to one end of the third driving arm, and the other end of the third driving arm is hinged to the second mounting seat.

9. The material clamping device according to claim 8, wherein an optional hinge part is further arranged in the middle of the third driving arm, and the end part of the second driving arm, which is far away from the first mounting seat, is used for being hinged to the optional hinge part, so that the electromagnetic propulsion mechanism can be switched between different working modes to meet different working condition requirements.

10. The material clamping device according to claim 9, wherein the number of the optional hinge parts is at least two, and the optional hinge parts are arranged along the length direction of the third driving arm.

11. The clamping device as claimed in any one of claims 7 to 10, wherein said driving arm units are two and symmetrically connected to opposite sides of said propelling electrode.

12. The material clamping device according to claim 11, wherein the electromagnetic propulsion mechanism further comprises an elastic resetting piece, one end of the elastic resetting piece is connected with the driving arm set or the second mounting seat, and the other end of the elastic resetting piece is connected with the first mounting seat.