RU2748140C1 - Electrostatic gripper - Google Patents

Abstract

FIELD: electrical engineering.SUBSTANCE: invention relates to electrical engineering and can be used in robots. The device contains the first and second levers connected by a hinge and a spring, on which cathode-ray tubes are installed, having a cathode, an accelerating anode and a screen, and a third lever connected by a hinge and a spring to a second lever, and on the second and third levers also cathode-ray tubes having a cathode, an accelerating anode and a screen. In this case, the cathode-ray tubes are connected to the current source and are located on the first and second, as well as the second and third levers with the possibility of repulsion from each other when voltage is applied. The gripper is attached to the third lever. The accelerating anodes of the cathode ray tubes are connected to the current source through the normally closed contact of the time relay, and their metal screens are connected to the grounded wire through the normally open contact of the said time relay.EFFECT: provides a simplified design while reducing manufacturing costs.1 cl, 4 dwg

Description

The invention relates to electrical engineering and can be used in robots.

Known electrostatic gripping device containing the first and second levers connected by a hinge and a spring, on which cathode-ray tubes are installed, having a cathode, an accelerating anode and a screen, and a third lever connected by a hinge and a spring to a second lever, and on the second and third levers are also installed electro-ray tubes having a cathode, an accelerating anode and a screen, and the cathode-ray tubes are connected to the current source and are located on the first, second and third levers with the possibility of repulsion from each other when voltage is applied, and the grip is fixed on the third lever (patent RU 2337808).

However, in this electrostatic gripper, the cathode-ray tubes have an additional anode and an additional cathode on the screen. This complicates its design.

The technical result of the invention is to simplify the design of the electrostatic gripper by operating it without additional cathodes and anodes.

The specified technical result is achieved in that the electrostatic gripper contains the first and second levers connected by a hinge and a spring, on which cathode-ray tubes are installed, having a cathode, an accelerating anode and a screen, and a third lever connected by a hinge and a spring to the second lever, and on the second and third levers also have cathode-ray tubes with a cathode, an accelerating anode and a screen, and the cathode-ray tubes are connected to the current source and are located on the first, second and third levers with the possibility of repulsion from each other when voltage is applied, and the grip is fixed on the third lever, while the accelerating anodes of the cathode-ray tubes are connected to the current source through the normally closed contact of the time relay, and their metal shields are connected to the grounded wire through the normally open contact of the said time relay.

Figure 1 shows an electrostatic gripper, general view.

Figure 2 shows the second and third arms when the cathode-ray tubes are not repelled from each other, a section.

Figure 3 shows the second and third arms with cathode-ray tubes repelling from each other, section.

Figure 4 shows an electrical diagram of the connection of the accelerating anode and the screen of cathode-ray tubes with a current source through a time relay.

The electrostatic gripper has the following structure. The first lever 1 is fixed to the body of the device. The first lever 1 and the second lever 2 are connected by a hinge 3 and a spring 4. The holders 5 are attached to the levers 1 and 2. In the holders 5 there are cathode ray tubes 6. The second lever 2 and the third lever 7 are connected by a hinge 8 and a spring 9. The hinge 3 is located perpendicular to the hinge 8. The holders 10 are attached to the levers 2 and 7. In the holders 10 there are cathode-ray tubes 11. The cathode-ray tubes 6 and 11 are located on the levers 1, 2 and 7 with the possibility of repulsion from each other when voltage is applied to them. The cathode-ray tubes have a cathode 12, an accelerating anode 13 and a metal shield 14. Accelerating anodes 13 are connected to the current source by a wire 15 through a normally closed contact of a time relay 16. The metal shields 14 are connected to a grounded wire 17 through a normally open contact of a time relay 16. To the third lever 7 is attached to the gripper 18.

The electrostatic gripper works as follows. The operator applies voltage to the cathodes 12. He also applies voltage to the accelerating anodes 13. Electrons from the cathodes 12 pass through the accelerating anodes 13 to the metal screens 14. The cathode-ray tubes 6 are repelled from each other. The second lever 2, rotating in the hinge 3, moves away from the lever 1. The cathode-ray tubes 11 are also repelled from each other. The third lever 7, rotating in the hinge 8, moves away from the lever 2. The gripper 18 captures the part. Then time relay 16 is activated. Its normally closed contact opens. The voltage from the current source is no longer supplied to the accelerating anodes 13. The electrons from the cathodes 12 do not pass to the screens 14. The normally open contact of the time relay 16 closes. Electrons from the metal shields go through the closed contact of the time relay 16 to the grounded wire 17. The shields 14 are discharged. The cathode ray tubes 6 and 11 no longer repel each other. The third lever 7 is attracted by the spring 9 to the second lever 2. The second lever 2 is attracted to the first lever 1. The gripper 18 leaves the part. Then time relay 16 is activated. Lever 2 moves away from lever 1. Lever 7 moves away from lever 2. Gripper 18 again captures the workpiece. So the electrostatic gripper can grip the parts in different places depending on the voltage across the accelerating anodes 13. That is, depending on the number of electrons on the metal screens 14.

The use of an electrostatic gripper of the proposed design will provide the following technical and economic effect. The known electrostatic gripper has a complex structure. Its manufacture is expensive. The proposed electrostatic gripper has a simple structure. Its production requires less cost.

Claims (1)

An electrostatic gripping device containing the first and second levers connected by a hinge and a spring, on which cathode-ray tubes are installed, having a cathode, an accelerating anode and a screen, and a third lever connected by a hinge and a spring to a second lever, and on the second and third levers are also installed cathode-ray tubes having a cathode, an accelerating anode and a screen, and the cathode-ray tubes are connected to the current source and are located on the first and second, as well as the second and third levers with the possibility of repulsion from each other when voltage is applied, and the grip is fixed on the third lever, characterized in that the accelerating anodes of the cathode-ray tubes are connected to the current source through the normally closed contact of the time relay, and their shields, made of metal, are connected to the grounded wire through the normally open contact of the said time relay.

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