SU1489983A2 - Gripping device - Google Patents

Abstract

The invention relates to mechanical engineering, namely to gripping heads of manipulators. The purpose of the invention is to increase the reliability and expansion of technological capabilities. Each sponge 5, 6, 7 is provided with a lock with an electromagnetic drive, and the number of balls is chosen equal to the number of sponges. On the peripheral surface of the magnet 4 opposite to each jaw there are conductor tracks insulated one from another, electrically connected with the drive of the latches. When a non-centered part is gripped, one of the jaws touches its surface and displaces the magnet 4 relative to magnet 2. Having reached the maximum displacement, one of the balls rolls onto the conductive path and closes the electrical circuit: the first terminal of the power supply, the conductive pad, the ball, the conductive path, latch drive, second power supply terminal. The latch drive is activated by stopping the movement of the sponge. 3 il.

Description

The invention relates to mechanical engineering, namely to gripping devices of robots and manipulators, and is an improvement of the invention according to the author. No. 1212782.

The purpose of the invention is to expand the technological capabilities and increase the reliability of the device.

FIG. 1 shows a gripping device, a general view; in fig. 2 shows section A-A in FIG. one; in fig. 3- pa & bb-b in FIG. one.

The gripping device is attached to the arm 1 of the manipulator with an annular magnet 2 with an overlay 3 of magnetic and conductive material. By magnetic forces, the second permanent magnet 4 is held the same as the magnet 2. On the movable magnet 4, clamping jaws 5, 6, 7 are mounted by a drive 8. In order to ensure free movement of magnets 2 and 4 relative to each other, they are divided according to the number of clamping jaws by steel balls, respectively, 9, 10, 11 installed in the separator 12. Drive 8, for example, vacuum, contains by the number of clamping jaws hollow cylinders 13, the cavity of which is connected to a vacuum pump (not shown). In the cylinders 13, the pistons 14 are mounted with the possibility of their movement in the cylinders 13. The pistons 14 are hingedly connected to the fingers of the clamping jaws. Each of the protective

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The jaws are provided with a latch 15 with an electromagnetic drive (not shown) connected to the first terminal of the power source (not shown), to the second terminal of which the pad 3 is connected. On the peripheral surface of the moving magnet 4, tracks 16, 17 are located opposite each of the fingers of the clamping jaws. , 18 of the current conducting material, associated with the respective actuators of the latches. The tracks are isolated from each other, the pistons 14 are spring-loaded relative to the magnet 4 springs 19,15

Clamps can be provided in the form of spring-loaded rods placed inside the electrical winding.

thereby creating an asymmetry about the axis of the magnet 4, which compensates for a part of the displacement of the axis of the gripping part from the center of the gripping device. In this case, when the maximum permissible displacement is reached. the lower magnet 4 in the other directions is fixed the position of the other by pressing the jaws - 5 or 7. When you touch the part, all the clamping jaws end up clamping the part, t

After the part is gripped, the arm of the manipulator rises up together with the gripped part, removing it from the tray slot, after which the magnets 2 and 4 clamp the initial coaxial position, compensating part of the displacement de, and the balls 10 stop co

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The gripping device works barely - clocked with the segments and drives in a dramatic way - all the detents are de-energized,

thereby creating an asymmetry of the jaws relative to the axis of the magnet 4, which compensates for a part of the displacement of the axis of the gripping part from the center of the gripping device. In this case, when the maximum allowable displacement of the lower magnet 4 is reached, the position of the other clamping jaws is fixed in other directions - 5 or 7. When the part touches the clamping part, the part clamp ends, t

After the part has been gripped, the manipulator arm rises up together with the gripped part, removing it from the tray slot, after which the magnets 2 and 4 clamp the initial coaxial position, compensating part of the displacement, and the balls 10 stop contours

In the initial position, the magnetic flux passing through the balls 9, 10, 11 movable magnet 4 is self-oriented relative to the magnet 2. After supplying the grip to the part located in the tray slot, the vacuum pump of the 8 jaw drive is turned on. At the same time, under the action of low pressure in the cavity of the cylinders 13, the pistons 14 of the clamping jaws 5, 6, 7 simultaneously draw into the cylinders 13, moving the fingers of the clamping jaws to the center. When a finger touches the sponge, for example, the sponge 6, on the surface of the part being captured, the sponge 6 centers the movable magnet 4 about the part axis, displacing it in the direction opposite to the direction of movement of the sponge 6. If the initial displacement of the axis of the part being gripped from the center of the gripping device the displacement of the axes of the two magnets, the rest of the displacement is compensated by the asymmetry (displacement) of the clamping jaws themselves relative to the center of the lower magnet 4, for which fixing of the clamping jaws is provided. Upon reaching the maximum permissible displacement of the magnet 4 ball 10 contact

It drives with the track 17, thereby through the track 17 and the ball 10 the locking mechanism 15 is connected to the pad 3 and the second terminal of the power source, the locking device 15 operates by locking the position of the jaw 6 and. thereby preventing the ball 10 from moving in this direction beyond the limits of the magnet 4. And the sponges 5 and 7 continue to move.

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As a result, the clamping jaws are unfixed and occupy a position symmetric with respect to the axis of the lower magnet 4 under the action of the springs 19, and the part is finally centered relative to the axis of the magnets.

The design of the proposed gripper has advanced technological capabilities, a greater amount of avoidable displacement of the axis of the part from the axis of the device, as well as increased reliability in operation, since the possibility of the balls 10 out of the magnets being eliminated when the sponge stops in the part.

Claims (1)

Invention Formula Capture. Device aut. St. No. 1212782, characterized in that, in order to increase reliability and expand technological capabilities, it is provided with a power source, the number of balls being equal to the number of clamping jaws, each clamping sponge is provided with an electromagnetic-drive lock, and on the peripheral part of the magnet surface mounted with the possibility of moving, opposite to each jaw, conductor tracks insulated from one another are fastened; it is possible to interact with the balls, while the balls are made of conductive material, and on the working surface of the magnet attached to the arm of the manipulator there is a conductive pad, and an electromagnetic 51489983 the drive of each latch and the conductor tracks are electrically The water pad is connected to the corresponding terminals of the power supply,  one. Have sixteen 17 and the conductive paths are electric associated with respective electromagnetic actuators of the latches. F.1 1b 2 g Fib.Z Editor I. Segl Nick Compiled by S. Gribov Tehred L. Serdyukova Proofreader I. Musk Order 3625/20 Circulation 778 VNIIPI State Committee for Inventions and Discoveries at the State Committee on Science and Technology of the USSR 113035, Moscow, Zh-35, Raushsk nab. 4/5 Production and Publishing Combine Patent, Uzhgorod, st. Gagarin, 101 13 Subscription