RU29921U1 - Capture device - Google Patents

Description

The invention relates to robotics, and more particularly to electromagnetic capture devices.

Known devices - electromagnetic captures - lifting electromagnets (Edited by A. Ishlinsky Polytechnical Dictionary. M .: "SE. 1989 S. 396), consisting of a ferromagnetic core, on which is wound an electric winding connected to a constant current source. The ferromagnetic core is fastened with one flange to a lifting device, such as a crane. The disadvantage of these devices is that when working with sheet-shaped ferromagnetic parts stacked tightly (without dielectric spacers) in a stack, they cannot capture only one part.

A device is known, selected as a prototype (Andre P., Kofman Zh. M., Lot F., Tyvar Zh. P. Designing robots. M. WORLD. 1986. S.315316), designed to capture objects made of ferromagnetic materials and devoid of the noted drawback. The prototype consists of an electromagnetic coil wound on a frame made of ferromagnetic material. An electromagnetic coil is connected to the power source via wires. A rod is placed in the inner cavity of the carcass, which can reciprocate along the longitudinal axis of the carcass. The drive of the rod is carried out using a power cylinder, the rod of which abuts against the end of the rod, opposite the end directed to the gripping part.

After electromagnetic capture of the part, for example, a sheet of iron, the power cylinder extends the rod, and, consequently, the rod toward the captured part. As a result of these actions, the part bends, and between it and YeleMPK B 65 G 47/90, the gripper

the second part creates air voids, the appearance of which leads to a decrease in the attractive force of the second part to the electromagnetic coil and the second part remains in the stack.

The main disadvantage of the prototype is determined by its limited functionality. This limitation is due to the fact that at a fixed value of the current flowing along the winding of the electromagnetic coil, the prototype can work with parts that have a flat surface. If the part has a profiled surface, the prototype does not adhere to the grip part (in area) and the magnitude of the electromagnetic suction force (it depends on the gap between the grip and the part) may not be enough to detach and fix the part.

The author was faced with the task of creating a capture device with enhanced functional capabilities that allow the device to be used to capture parts with both a flat and a profiled surface

This task is achieved by the fact that in the capture device containing a ferromagnetic frame, on which an electromagnetic coil is wound, connected to a power source, a packet made of a non-magnetic elastic material filled with a shot of ferromagnetic material is attached along the perimeter of the flange of the ferromagnetic frame, and the walls of the packet perforated.

Comparative analysis with the prototype shows that the capture device is different: 1) using a package of non-magnetic elastic material with perforated walls; 2) using fractions made of ferromagnetic material

The noted differences make it possible to increase the contact surface of the gripping device and the gripping part.

with its edges a packet 3, the walls of which are made of non-magnetic elastin material, for example rubber. Package 3 is filled with shot 4, made of a ferromagnetic material, for example, iron. Fraction 4 does not completely fill the bag 3. The electromagnetic coil 2 is powered from the power supply 5. Position 6 indicates the gripping part. In the walls of the package 3 made holes 7 with a diameter smaller than the diameter of the shot.

The operation of the device is as follows. Using a manipulator (not shown), the gripping device is lowered onto the gripping part 6, while the electromagnetic coil 2 is de-energized. There is a mechanical contact of the captured part 6 and package 3, if the part 6 has a profiled surface, the fraction 4 fills the depressions of the surface of the part 6. Then the power supply 5 is turned on and the current flowing through the coil 2 creates an electromagnetic field, the magnetic flux of which mainly passes through the frame 1, fractions 4 and parts 6, since they are made of ferromagnetic material, which determines their low magnetic resistance (it is assumed that the ferromagnetic material is not in a state of saturation). As a result of the interaction of the electromagnetic field of the coil 2 and the ferromagnetic material of the part 6, a suction force arises. Excess air from the bag 3 is removed through the perforated holes 7.

As a result of the use of the ferromagnetic fraction 4, there are no air gaps due to the profiled surface of the part 6 between the part 6 and the end face of the coil 2. It should be specially noted that the magnetic resistance of air is several orders of magnitude greater than the magnetic resistance of a ferromagnetic material.

Another mode of operation of the capture device is also possible; it differs from the one described above in that the electromagnetic coil 2 is energized at the beginning of the operation. After the contact of the package 3 with the captured part 6, the coil is de-energized and the fraction 4 is rolled into the troughs. Then coil 2

again it is crammed from the source 5 and the part 6 is captured. Using this mode allows reducing the walls of the packet 3, i.e. increase their elasticity

As you can see, the elimination of air gaps between the surface of the captured part and capture with the help of a ferromagnetic fraction allows you to increase the capture force (at a fixed value of the current supplying the electromagnetic coil), i.e. use the device to capture parts, both with a flat and with a profiled surface.

2001130104

Claims (2)

1. The capture device containing a ferromagnetic frame, on which is wound an electromagnetic coil connected to a power source, characterized in that a packet made of a non-magnetic elastic material filled with a fraction of ferromagnetic material is attached along the perimeter of the flange of the ferromagnetic frame. 2. The capture device according to claim 1, characterized in that the walls of the bag are perforated.