SU1283090A1 - Manipulator gripping device - Google Patents

Abstract

The gripper arm can be used in any industry to load material processing equipment with piece blanks. The purpose of the invention is to improve the reliability of the capture of the workpiece, as well as expanding the technological capabilities of the device. Reliability

Description

22

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1283090

gripping is provided by using a magnetic latch consisting of a disk 13, cores 11 and windings. It is not difficult to adjust the clamping force of the workpiece, changing the electromagnetic parameters of the system. In addition, it is also possible

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using a tong to rotate the workpiece in it. This is realized with the help of the same electromagnetic parameters of the system. Moreover, the rotation of the workpiece in the grab can be used for additional technological operations. 1 hp ff, 4 ill.

one

The invention relates to machine guns, in particular, to gripping devices of industrial robots.

The aim of the invention is to expand the technological capabilities and improve the reliability of the device.

FIG. 1 shows a gripper, longitudinal section; in fig. 2 is a section A-A in FIG. one; FIG. 3 is a section BB in FIG. one; in fig. 4 - gripper lips.

The gripper of the manipulator (Fig. 1) contains a drive 1, a drive shaft 2, mounted in bearings 3 and consisting of two parts 4 and 5, connected: telescopically. A drive element 6, made in the form of a cone with a thread, is attached to the drive shaft. The base 7 and the gripper body 8 have a circular shape and are made of a non-magnetic material, the body 8 having a smaller diameter and installed at the base 7 in the bearing 9. The base 7 is installed (FIG. 1 and 2) an electromagnetic locking system, which is a ring magnetic core 10 rigidly fixed in a housing and cores 11 with bifurcated poles attached to the magnetic core 10, have a winding 12. The number of cores can only be The distance between the bifurcated poles is a steel disk 13 of the retainer rigidly attached to the housing 8. The gripping jaws 14 (the number of jaws may be, for example, four, while the jaws in Fig. 1 are not cut) have a thread on the inner inclined face and are located in the shaped grooves 15 of the housing 8 (Fig. 4).

5 0 5 0

five

Each sponge 14 (Fig. 1) is spring-loaded with elastic elements 16 and 17, which keep it in constant engagement with the drive element 6. The first elastic element 16 is located in the lower part of the sponge 14 in the groove 18 and is attached at one end to the sponge 14, and the second - to the protrusion 19 of the shaped groove 15 of the housing 8. The second elastic element 17 is attached at one end to the housing 8, and the second to the protrusion 20 in the upper part of the jaw 14. Each sponge 14 has guide lugs 21 (Figs. 3 and 4), rectangular shape and grooves of housing 8 which are in the same shape, which allows the jaws 14 only parallel to oneself in the radial direction. The movable part 5 (fig. 1) of the telescopic shaft 2 is rigidly fixed to the washer 22, which is intended to act on the limit switches 23, which serve to limit the vertical stroke of the drive element 6.

The device works as follows.

In the initial position, the drive element 6 is in its extreme upper position, the gripper jaws 14 are retracted into the head with elastic elements 16 and 17 (Fig. 1), the windings 12 of the electromagnetic locking system are disconnected from the power source, the drive 1 does not rotate. When gripping, the tong is supplied to the part, the windings 12 are powered from an external power source (not shown), and the actuator 1 begins to rotate. Upon receiving power, the windings 12 create magnetic fluxes, each of which closes along a contour: the core with a forked noJmcoM 11 is a steel disc

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13 — adjacent core 11 with a pole of opposite polarity — annular magnetic core 10 — initial core 1 1. The magnetic flux, closed through the steel disk 13, induces eddy currents in the disk 13, which, interacting with the magnetic field

Lem, create a braking moment. The magnitude of the braking torque depends on the magnitude of the voltage (current) supplied to the windings 12. This braking torque prevents rotation of the housing 8 in the bearing 9. The drive 1 rotates the drive element 6 through the shaft 2, the drive element 6, rotates, is screwed into 1/4 jaws and thereby extends them, overcoming the forces of the elastic elements 16 and 17. Motion down the drive element 6 is provided by telescoping the connection of the parts of the shaft 4 and 5. In this case, part 5 extends from part 4.

When the jaws 14 reach the inner surface of the part by the force of rotation of the drive shaft 2, the braking moment of the lock is overcome and the housing 8 with the clamped part starts to rotate. This rotation can be used when machining a part. The compressive force of the jaws 14 is determined by the magnitude of the braking torque. Thus, by regulating the voltage on the electromagnetic system of the clamp, it is possible to ensure the regulation of the compressive force. When the actuator 1 is rotated to the other side, the part is released due to the fact that the housing 8 is kept from rotation by the lock and the drive element 6 is screwed out of the jaws 14. The elastic elements 16 and 17 at this time pull the jaws 14 into the housing 8, freeing the part. When the drive element 6 reaches its extreme upper position, the washer 22 acts on the upper limit switch 23, which turns off the drive 1. In this case, the grip is in the initial state. If the part is not in the gripping zone, the drive element 6 reaches its lowest position and, under the influence of the clamp 22, operates the lower limit switch 23.

Claims (2)

1. A gripper arm comprising a base in which a housing is arranged for rotation and fixation with sponges arranged in it with a drive including a shaft connected to the motor and the mechanism for moving the jaws, as well as a control system with limit switches different in order to expand technological capabilities and increase reliability, the latch is made in the form of a steel disk rigidly fixed in the housing and an even number of cores installed at the base and provided with windings connected to the control system, the cores being connected on one side between a ring magnetic conductor, and on the other are made from a groove. m, in which a steel disk is placed with a gap. 2. The grip according to claim 1, characterized in that the mechanism for moving the jaws is made in the form of a cone with a screw thread, which engages with a corresponding thread made on the jaws placed in the body guides, while the drive shaft is telescopic, the axially movable part is rigidly connected to the cone and is implemented with elements intended to interact with limit switches. 12 qous; 2 13 fs / e Bb fiez 74