SU1484709A1 - Grab for industrial robot - Google Patents

Description

The invention relates to the field of mechanical engineering and can be used in the gripping organs of robotic manipulators. The purpose of the invention is to increase

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reliability coverage For this purpose, a spring-loaded plate 7 with electromagnets 8 is installed on the non-working part 3 of the jaws sponge, permanent magnets 10 are located on the working part 2, and the source of the electric field is made in the form of an electret 11 and two electrodes 12 and 13. Electromagnets 8 are installed with the possibility of interaction with the magnets 10 .When gripping parts electromagnets are disabled. The distance between the working part 2 and the plate 7 decreases, and the electric field in channel 5 increases. Electrorheological fluid hardens and ceases to flow into the hydraulic drive

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FIG. g

1484709

move the sponge. For the release of the part, the voltage is applied to the electromagnets 8, which, by pushing the permanent magnets 10, increase the distance between the working part 2 and the plate 7. The intensity of the electric field decreases. The electrorheological fluid becomes liquid and the hydraulic actuators return the sponge to its original position. 2 Il.

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The invention relates to mechanical engineering and can be used in the gripping organs of robotic arms,

The whole invention is to increase the reliability of coverage,

On fig.CH presents gripper industrial robot; in fig. 2 — node I in FIG. one.

The grip contains sponges 1, each of which consists of working 2 and non-working 3 parts, interconnected by elastic elements 4 and equipped with a source of electric field. 15 Each sponge 1 has a channel 5 for supplying working fluid connected to a hydraulic drive 6, A plate 7 with electromagnets, spring-loaded spring 9, is mounted on the non-working part 3, and permanent magnets 10 are located on the working part 2, which can interact with electromagnets. The source of the electric field is made in the form of 25 electret 11 and two electrically interconnected electrodes 12 and 13, and the electrode 12 is installed on the inner side of the working part 2 of the sponge, and the electret 11 and the electrode. 39 13 are located on the plate 7,

The device works as follows.

From the pumping station (not shown), the working fluid is fed into the channel 5 35

and then follows into the hydraulic actuator 6. When the electromagnets 8 are turned on, plate 7 is located at a distance from the working part 2, the gap between them is large, and the tension created by the electret 11 is small. Consequently, the resistance to the advancement of the working fluid is minimal. The electrorheological fluid is used as the working fluid.

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When the part is gripped by the working parts of the 2 jaws 1, the gap between them and the plates 7 is reduced. The electromagnets 8 are turned off. The electric field strength in channel 5 increases, the electrosheological fluid hardens and ceases to flow into the hydraulic actuator 6.

After that, the entire flow of the electrorheological fluid goes to the drives of other sponges, causing them to accelerate moving until they also touch the object being captured, the described process will repeat and all the sponges will stop, the Part is captured and can be moved.

To release the part voltage is applied to the electromagnets 8, they repel the permanent magnets 10, increasing the gap between the working part 2 and the plate · 7. As a result, the distance between the electrodes 12 and 13 increases, the electric field decreases, the electrorheological fluid goes into a liquid phase state and under the action of a spring located in the cylinder rod of the hydraulic actuator 6, merges into a special container (not shown).

Claims (1)

Claim The grip of an industrial robot containing pivotally connected with a corporeal sponge with a hydraulic actuator of their movement, each of the sponges is made consisting of two parts, one of which, the working one, is connected to the other with the help of elastic elements, the sponge cavities are connected to the hydraulic actuator and to the source working environment, c. which is used electrorheological fluid, and each 1484709 The sponge is provided with a source of electric field, characterized in that, in order to increase reliability, the sponge is equipped with a spring-loaded plate with electromagnets installed in the cavity of the sponge on its non-working part, as well as permanent magnets located on the working part of the sponge and having interaction with electromagnets, while the source of the electric field is made in the form of an electret and two electrically interconnected electrodes, one of the electrodes mounted on the inside of the working part of the sponge, and the electret and the other electrode are located on a spring-loaded plate,