RU1805033C - Electromagnetic self-setting gripping device - Google Patents

Abstract

Usage: mechanical engineering, in capturing organs, manipulators. SUMMARY OF THE INVENTION: The gripper comprises a housing 2, an electromagnet, and plate packs 6. The electromagnet is made in the form of a core 3 with a magnetizing coil 4 and is mounted on the housing 2 so that its longitudinal axis is perpendicular to the longitudinal axis of the housing. The plates 6 are made of magnetic: material with a different profile of the working surface and are located at the ends of the core with the possibility of free movement relative to each other. Upon contact with the gripping part 10, the plates 6 are set in accordance with its shape. And when power is supplied to the coil 4, the part is attracted to the package of plates, 5 sludge,

Description

The invention relates to mechanical engineering and can be used in robotics when manipulating ferromagnetic objects (parts) with different surface shapes in different gripping areas, mainly elongated along an axis or line forming a surface, for example, type stepped shafts, rods, racks, in cross sections of which circles, ovals, polygons, etc., of various shapes and sizes, are observed.

The aim of the invention is to increase the reliability of gripping and holding the part, as well as expanding the grip capabilities when making parts with different shapes in their cross section.

SUMMARY OF THE INVENTION

Figure 1 shows a device with fixing a stepped shaft; Figs. 2a, b are a view along arrow A in Fig. 1 (at various positions of the robot arm); in Fig.Z - different shape of the plates along the contact path

when typing in a package; Fig. 4 shows the location of the core of an electromagnet with a guide shaft at the end relative to the housing with an emphasis; on figa-g - the location of the plates with various forms of gripping parts.

The electromagnetic self-locking grip (Fig. 1) contains a non-magnetic housing 2 connected to the hand of the robot 1, which also acts as a stop on which the core of the electromagnet 3 and its magnetizing coil 4 are mounted. At the ends of the core are guide rollers 5, on which are fixed the slots of the self-aligning plates 6, fastened with nuts 7 with the possibility of free movement relative to each other within certain limits. A distinctive feature of these plates is their different shape along the contour at the points of capture of the fixing bag.

Figure 2 shows, by way of example, possible contact points (1,2,3) that do not change at different positions.

Yo

00

about eating

Sd

s

hands of the robot 1 and when collecting a package of three plates b with different shapes along the contact contour in the package, for example, consisting (Fig. H) of a rectangular plate and two adjacent plates different in mirror image, in which there is a persistent tooth 8 and bevel 7 at the underside of the plate. Slots 8, made in plates with sizes of And 12, fix them on rollers 5, mounted on the ends of the core 3 of the electromagnet (figure 4), mounted on the corps 2.

With various shapes of the surface of the captured object 10 (Fig. 5), for example, in the cross-section of the capture region of which circles of various diameters (a, b), an oval (c) or a polyhedron (d) are observed, the plates rotate around the roller 5 under the force of weight, self-align and provide contact at least three points (1,2,3).

-

Electromagnetic self-locking gripper operates as follows.

The hand grip of the robot 1 is brought to the part 10 and pressed against it by the emphasis of the body 2, while the retainer plates 6 move freely under the action of the weight force in the packets, self-align relative to each other in accordance with the shape of the part 10, grasp it and contact at least at three points on different lines forming the surface of its capture.

-

When power is applied to the coil 4 of the electromagnet, a magnetic field is created, which closes along the core 3 of the electromagnet, two latches, which are its

5 poles and a gripping part, under the action of which the plates in the retainer packages adhere to each other and to the ends of the core, ensuring their rigid fastening, as well as the magnetic attraction of the component to the plate package and its retention in the working process.

When the voltage is removed from the coil, the part is released and the device returns to its original position.

15c The positive effect of the present invention is that the grip capabilities are expanded.

Claims (1)

SUMMARY OF THE INVENTION An electromagnetic self-locking grip comprising a housing with an electromagnet mounted thereon, made in the form of a core with a magnetizing coil, the longitudinal axis of which is perpendicular to the longitudinal axis 25 of the housing, and packages of plates of magnetic material located at the ends of the core, with the plates in packages installed with the possibility of free movement of one relative to another, 30 due to the fact that, in order to increase reliability in operation, the plates in the bag are made with a different profile of the working surface.