RU2378102C2 - Manipulator grasping unit drive - Google Patents

Abstract

FIELD: robotics.

SUBSTANCE: invention is related to robotics, in particular to driving devices of robot grasping units. Drive of manipulator grasping unit comprises external magnetic systems with excitation coils, active element, grasping unit grips installed on robot hand and spring-loaded, power supply unit, control unit and joined system of robot control. Active element has coil, which is attached to grips of grasping unit, is connected to power supply unit, which is connected to system of robot control, and is arranged with the possibility of entry into air gap of magnetic system. At the same time magnetic systems are arranged as sectional and pole-switching. Position sensor is installed on grip/grips. Excitation coil windings and position sensor are connected to control unit.

EFFECT: invention is aimed at increase of travel length and efficiency, makes it possible to adjust both speed of grips and their position, which expands functional resources of drive.

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Description

The invention relates to robotics, in particular to drive devices for gripping robots.

Known grip of the manipulator [1], containing a housing on which the levers spring-loaded, bearing jaws and a lever movement actuator are pivotally mounted, made in the form of two C-shaped magnetic systems, which can be made in the form of electromagnets or permanent magnets, two loops, made of electrically conductive plastic material, fixed with its ends on the housing, two stops mounted on this housing on both sides of the levers, and two trims, the ends of which are connected through rods to the corresponding growls gami. Moreover, each of the loops is located between the corresponding stop and the bar, and the magnetic systems are installed in the capture zone with the possibility of entry between the poles of each magnetic system of the corresponding loop.

Also known is a robot grip [2], containing two magnetic systems with pole tips mounted on a base located in the working zone of the grip, active elements made of conductive material are kinematically connected to the jaws. On one of the magnetic systems, a position sensor of the active element is installed, interacting with its movable part located on the active element.

In addition, the gripper includes a base displacement drive with magnetic systems, comprising an electric motor, a gear pair, a rotary screw, the nut of which is fixed to the base. The output of the sensor is connected to one of the inputs of the comparison unit, to the other input of which a reference signal is supplied, and the output of this unit through the control unit is connected to the drive motor. In addition, the tong contains a gripping part.

Of all the known analogues, the closest to the claimed combination of essential features is the manipulator grip drive [3], which contains two two-arm levers connected by a hinge between themselves and the base. Some shoulders of the levers are spring-loaded to each other, while others are carrier jaws, connected through rods to rods, at the ends of which electric coils are fixed. The rods are located inside the housings mounted on the base. Between the rods and bodies are sliders, spring-loaded to the bodies by springs. Clamps are installed on the sliders, each of which contains two slats having a serrated surface, while the slider is spring-loaded to the slider and connected with the drive of its movement by a spring, and the slider is installed on the inner surface of the housing. On the surface of each of the rods made protrusion interacting with the slider.

The disadvantages of the gripper drive are a small stroke, low weight and size indicators and, as a result, low productivity. The small stroke is due to the fact that only half or fewer turns of the coil can be in the working gap, the second half must be out of the gap, since it has a different current direction. This leads to low use of the material of the coil, that is, it worsens the specific mass indicators, reduces productivity.

The invention is aimed at increasing the stroke length, increasing productivity.

This is achieved by the fact that the manipulator gripper drive containing external magnetic systems with excitation coils, the active element, gripper jaws mounted on the robot arm and spring-loaded, and a power supply unit, while according to the invention, the drive is equipped with a control unit and a robot control system connected to it, the active element has a coil that is attached to the jaw jaws, connected to a power supply connected to the robot control system, and is configured to enter the air gap of the magnetic system, etc. The magnetic system made sectionalized, polyusopereklyuchayuschimi on jaw / jaws mounted position sensor and the excitation coil winding and a position sensor connected to the control unit.

The invention is illustrated by drawings, where figure 1 schematically shows the proposed drive, a top view, figure 2 is a front view in section. The drive of one of the jaw jaws is shown. The other has a similar device.

The grip has external, separately mounted magnetic systems 1 with teeth (sections) 2, on which the excitation coils 3 are wound. In the gap of the magnetic system there is a coil 4 of the frameless active element, attached by means of holders 5 to the jaws 6 of the grip. The gripper operates with part 7. The sponges are installed in the bearing 8 on the robot arm 9 and are spring-loaded with springs 10. The springs 10 are compression springs. A position sensor is installed on the jaws (or on one of the jaws), including a magnet 11 and a reed switch 12. Coils 4 are connected to the power supply unit 14 via terminals 13, to which a signal is supplied from the robot control system 15 to open the grip if necessary. The findings 16 of the excitation coils 3 and the conclusions 17 of the reed switches 12 are connected to the control unit 18. The magnetic system is equipped with a structural insert 19.

The operation of the device.

In the initial state, the coil 4 is de-energized. The springs 10 expanding clamp the part 7 with jaws 6. Coils 3 can also be de-energized. The robot moves part 7 to the desired point in space. When approaching it, the arm 9 extends, the coils 4 enter the air gap of the magnetic systems 1. The part is delivered to the indicated point. At the command of the control system 15, blocks 14 and 18 are turned on. Block 14 supplies power to the coils 4. Block 18 includes a pair of coils 3 in such a way that the magnetic field lines shown in solid lines in FIG. 2 are provided. The direction of currents in coil 4 is also shown there. Using the rule of the left hand, it is easy to determine that coil 4 will move to the left, dragging sponge 6 along, compressing springs 10 and releasing the part. In this case, the following will occur. Magnet 11, switching the reed switches 12 will provide a change in the signals at the terminals 17 of the position sensor. Based on signals from the reed switches, the control unit 18 changes the polarity of the coils 3 in such a way that the field direction shown in dashed lines in FIG. 2 is ensured. Coil 4 will continue to move until switching windings 3 until the complete selection of the stroke. Then the hand 9 is retracted, for example, the processing of the part 7. Then again, the hand 9 is extended (with the jaws fully open). Then the coils 3, coils 4 are turned off. The sponges 6 are compressed by the action of the springs 10, the part 7 is clamped. The hand retracts again, the robot moves the part, for example, to the storage location. Next, the cycle of work is repeated. Block 18 may have various circuit implementations. The simplest is the direct control of windings 3 using reed switches 12. For more powerful drives, various amplifiers based on transistors, thyristors can be used. Block 14 is a conventional power supply with a key controlled from the control system 15, the output of the "external commands" or similar. Non-magnetic insert 19 is designed for constructive connection of the upper and lower half of the magnetic system and thereby stabilize the air gap between the teeth 2 and the active winding 4.

Blocks 14, 15, and 18 are performed on standard functional elements [4]. The power supply 14 and the control system 15 can be taken standard, for example type UPM-331. This system, manufactured by the industry, has a power supply and outputs for controlling grippers. The system is designed for positional control of robots. Its feature is that it is designed to work with discrete drives. It contains a BDP - a discrete drive control unit, which includes a switch, distributor and power triggers, which are used to switch thyristors installed in phases. That is, this block can be fully used as block 18. The UPM-331 system also has inputs for external commands to which signals from sensors 12 are supplied. Thus, the described gripper can be successfully controlled by the UPM-331 system or a system with similar characteristics.

The main technical and economic advantages of the device are as follows:

1. The stroke length is not limited by the dimensions of the frontal parts of the winding 4, but is determined by the number of teeth 2 and coils 3, that is, it can have practically any desired value.

2. In the electromechanical interaction both branches of the coil 4 are involved, that is, the force is doubled compared with the prototype with the same mass.

3. Increased force improves grip performance.

4. The circuit implementation is quite simple and reliable, it includes such tested elements as reed switches.

5. It is possible to control not only the speed of the jaws, but also their position, which further extends the functionality of the drive.

Information sources

1. A.S. USSR №585965 - The capture of the manipulator (A.M. Litvinenko. - Publ. In BI, 1977).

2. A.S. USSR No. 1219340 - Robot capture (A.M. Litvinenko. - Published in BI, 1984).

3. A.S. USSR No. 1266737 - Manipulator grip drive (A.M. Litvinenko. - Publ. In BI, 1984).

4. I.M. Makarova "Control systems of industrial robots" - M .: Mash-e, 1984.

Claims (1)

The manipulator gripper drive containing external magnetic systems with excitation coils, the active element, gripper jaws mounted on the robot arm and spring-loaded, and a power supply unit, characterized in that the drive is equipped with a control unit and a robot control system connected to it, the active element has a coil, which is attached to the jaw lips, connected to a power supply connected to the robot control system, and configured to enter the air gap of the magnetic system, while the magnetic system is made They are partitioned, pole-switching, a position sensor is installed on the sponge / jaws, and the windings of the field coils and the position sensor are connected to the control unit.

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