RU1811480C - Centering gripper - Google Patents

Abstract

Usage: mechanical engineering, gripping organs of manipulators. SUMMARY OF THE INVENTION: The gripper comprises a non-magnetic cylindrical body 2, a magnetizing coil 4, a gripping element and means for moving it. The gripping element is made in the form of a sleeve 6 of an elastic non-magnetic material, and the means of its movement is made in the form of a ferromagnetic ring 5. spring-loaded relative to the housing. Moreover, the gripping element is fixed with its one end to the working end of the housing and the other end to the ring 5. When power is applied to a coil 4 is created by a magnetic field acting on the ring 5. The gripping element bends under the influence of the ring 5 and centers the clamped part. 5 ill.

Description

Figure 1

The invention relates to mechanical engineering and can be used in automation systems, including gripping devices of manipulators and industrial robots for fixing to the outer surface and transporting non-magnetic parts such as a shaft, a rod, tubes, etc.

The aim of the invention is to simplify the design of the device and increase its reliability.

In FIG. 1 shows a General view of the gripping device in its original position with a de-energized coil; in FIG. 2 - the same in the operating position of the capture when the current is applied to the coil; in FIG. 3 is a sketch of a portion of a gripping element; in FIG. 4 - gripping device in the working position of the gripper with a dead coil, general view; in FIG. 5 is a part of the general view of the device in a coupled design of exciting elements.

The gripping device (FIGS. 1 and 2) comprises a glass-like body 2 mounted on the robot arm 1 with a lower passage flange 3 made of non-magnetic material. A magnetizing winding 4, which is supplied with direct current, is installed from the outer surface of the housing. Inside the housing 2, on its inner surface, a gripping element (Fig. 3) is installed, consisting of a spring-loaded continuous ferromagnetic ring 5, for example, steel, and a non-magnetic sleeve 6 fixed at its end with partial slots along its axis made of an elastic material, for example technical rubber. The ring 5 is slidable along the inner surface of the housing 2, and the sleeve 6 is capable of bending inwardly of the volume it occupies toward the surface of the gripping part 7 in the region of line a (Fig. 2).

A design is possible (Fig. 4), in which, in order to improve positioning, the part is caught in the region of line a and is additionally fixed in region b of the stop flange 8, which is part of the magnet wire 10, which surrounds the coil 4 located near the end of the housing 2. To improve the positioning of long parts 7 (Fig. 5), which are fixed in the device to the passage, double gripping elements 9 with one control winding 4 closed by the outer magnetic circuit 10 can be used, which ensure the capture of the part in two lines a and c.

The gripping device operates as follows.

In the initial position, the gripper (Fig. 1) is delivered and placed by the robot arm in the positioning zone, covering the part with a gap. Then a constant current is applied.

on the coil 4, under the influence of the magnetic field, the ring 5 is drawn into the area occupied by the winding, and with the end force it bends the elastic sleeve b, which centers the position of the part 7, fixing

0 when capturing along the line of a circle (Fig. 2). After transporting the part to its dispensing position, the power is removed from the coil, the magnetic field disappears and the sleeve 6 under the action of its own elastic forces and forces

5 springs acting on the ring, returns the gripper to its original position, dispensing part. Thus, the capture of the part occurs when there is current in the coil and it is released when the power is removed.

0.

In the execution of the grip of FIG. 4, on the contrary, in the initial position, with current in the coil 4, ring 5 closes the path of the magnetic flux passing through the magnesium5 to the wire 10, covering the winding 4, and the flange 8 located at the end of the housing moves to this end, while providing a force effect on the sleeve, translating it into a straightened-initial co /

0 cost. The part is then covered with a gap by the device and the power is removed from the coil. Under the influence of the spring, the ring 5 is brought into a state in which, under its force, the sleeve bends and the part is gripped and transported further. Said design improves grip reliability in the event of a possible loss of power to the device during transportation of the part. The part is released by re-energizing the coil. A similar work sequence corresponds to the embodiment of FIG. 5, which provides improved positioning of the part along two lines of circles in

5 areas x with.

Claims (1)

The proposed embodiment of the gripper with the simplicity of design and control significantly increases the reliability of its operation. Gain Formula 0 A centering grip, comprising a non-magnetic cylindrical body, a magnetizing coil mounted on a side surface of the body coaxially with it, a gripping element mounted on 5 of the inner side surface of the housing, and means for moving it, characterized in that, in order to increase the reliability of operation, the means for moving the gripping element is made in the form of spring-loaded relative to the housing ferromagnetic sleeve, and the gripping element is made in the form of a sleeve of elastic non-magnetic material, on the side surface of which longitudinal slots, while the gripping element is fixed with one end on the working end of the housing, and with the other end on the ferromagnetic sleeve.