SU1007968A1 - Gripper - Google Patents

Abstract

CAPTURE, containing sponges with shanks mounted pivotally on the body, and an actuator including a brush and a piston with a working surface forked. characterized in that, in order to simplify the construction and decompose the technological capabilities of the ny. of providing various forces during the setting of parts, the shanks of the jaws are permanent magnets facing each other with opposite poles, and the piston is a permanent magnet, neutral the plane of which passes through the axis of the piston, while the poles of the .mfirHHTa piston face the same poles of the sponge shank magnets.

Description

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This invention relates to gripping devices of industrial robots.

Known grip, containing sponges with shanks mounted pivotally on the housing and provided with a return spring, and an actuator comprising a rod and a piston with a working surface made in the form of a wedge. The shanks are equipped with guide rollers 1.

However, the design of this capture is complex. In addition, it does not provide various forces during setting, which reduces its technological capabilities.

The purpose of the invention is to simplify the design and expand the technological possibilities by providing various efforts in setting parts.

The goal is achieved by the fact that in a gripper containing sponges with shanks installed pivotally on the body, and an actuator comprising a rod and a piston with a wedge-shaped working surface, the sponge shafts are permanent magnets facing each other with opposite poles, The piston is a permanent magnet, the neutral plane of which passes through the axis of the piston, while the poles of the magnet of the piston are turned to the same poles of the magnets of the shanks of the jaws.

FIG. 1 shows the proposed grip, general view; in fig. 2 - elements of capture in the working position; in fig. 3 - sponge drive, made in the form of an electromagnet.

The gripper (fig. 1) contains sponges 3 with shanks 4 on hinges 2 located in housing 1, on which permanent magnets 5 are installed, facing each other by opposite poles. The actuator is a pneumatic cylinder 6 with a 7 piston located on the rod. The piston is a permanent magnet 8, the poles of which are separated by a plane passing along the axis of the piston, while the poles of the magnet of the piston are facing the same magnet pole faces of the shank. Position 9 designates grasped detail.

With the position of all the gripping elements indicated in FIG. 1, the latter is in the initial state: the drive magnets 8 are fixed by magnetic repulsive forces between the poles of the magnets 5 and 8, the tail magnets 5 are pulled together and the jaws 3 are opened, the part 9 is not clamped.

With the position of all the gripping elements indicated in FIG. 2, the latter is in the working condition, the part 9 is clamped.

The drive sponges can be made in the form of an electromagnet 10.

Capture works as follows. When the drive is turned on, the magnet 8 is pushed into the slot. In front of each of the magnets 6, a magnet 8 of the same polarity is established, as a result of which repulsive forces arise between them, which should together exceed the mutual attraction of the magnets 5. The latter move apart and the jaws 3 close. When the drive is disconnected, the magnetic forces between the like magnets 5 push the magnet 8. The magnets 5 as they push the magnet 8 converge to each other due to

the attraction forces between them and the grip return to their original state.

Due to the elastic properties of the magnetic field, the part 9, clamped in the gripper, can be mixed relative to the gripper axis indicated in the drawings at the assembly position,

This allows the assembly to apply methods for self-orienting parts, thereby increasing the reliability of the assembly process.

In the case of rigid fixation of the part relative to the specified axis, it is sufficient to sample (eliminate) the gap between the magnets 5 and 8 when the part is gripped;

Air cylinder and magnets dimensions

Q the poles of the magnets and their strengths must be such that in the initial state the magnets 8 are reliably fixed, and when they move into the groove the total repulsive force vector between the poles of the magnets of the same magnet 5

5 and 8 exceeded the mutual attraction force between the magnets 5.

When performing the drive of the jaws in the form of an electromagnet 10, when turned on, an electromagnetic field arises indicated in FIG. 3 polarities, i.e. opposite each

0 of the magnets 5, an electromagnet of the same name is formed. Since the poles of the same name repel each other; the magnets 5 move apart and the jaws 3 close. When the electromagnet is disconnected, the magnets 5, as they are juxtaposed to each other, are shifted and the jaws 3 open.

The magnetic coupling between the drive and the jaws instead of the kinematic one simplifies, first of all, the manufacture and subsequent assembly of the gripper, since there is no need to manufacture a number of parts, and it weakens the technological capabilities of the gripper, providing various forces during the setting of the part.

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Claims (1)

Capture containing jaws with shanks mounted pivotally on the housing, and a drive including a rod and a piston with a working surface in the form of a wedge. characterized in that, in order to simplify the design and expand technological capabilities by providing different efforts when gripping parts, the jaw shanks are permanent magnets facing each other with opposite poles, and the piston is a permanent magnet, the neutral plane of which passes through the axis of the piston, in this case, the poles of the piston magnet are facing the poles of the sponge shank magnets of the same name.