SU1743858A1 - Sensitization clamping device - Google Patents

Abstract

Use: engineering, in the gripping bodies of industrial robots. SUMMARY OF THE INVENTION: The device comprises a housing 1 with gripping levers 4, a drive for their movement, a helical spring 7 and a strain gauge 8. The movement drive is made in the form of inductance 2 and hinged on the levers of the cores 3. The screw spring and the strain gauge are located in the gap between the cores inside inductors. The gripping arms, the cores and the spring are made of ferromagnetic material. The strain gauge is located on one of the coils of the spring, made with a flat rectangular cross-section. When power is applied to the inductance coil, the cores are drawn into the inside of the coil and compress the spring. The magnitude of the signal from the strain gauge depends on the degree of deformation of the spring and characterizes the size of the piece to be captured. 2 Il.

Description

The invention relates to robotics and is intended for use in industrial robots for manipulating articles made primarily of ferromagnetic materials.

A device is known comprising a housing with gripping levers mounted thereon, a drive for moving them, consisting of an inductance coil mounted on the hull between the levers, and cores hinged to each of the gripping levers, a helical spring and a strain gauge located in the gap between cores inside the inductance coil, and the gripping levers, the cores and the spring are made of ferromagnetic material.

The disadvantages of this device are limited technological capabilities, design complexity and low accuracy of measurement of the size of the captured part.

The limited technological capabilities of the device are due to the presence inside the inductance, in addition to the coil springs, of a magnetoelastic transformer strain gauge consisting of a magnetic core and electrical windings and limiting the stroke (displacement) of ferromagnetic cores, and consequently, gripping levers, leading to a decrease in the range of items to be captured ( and measurement of dimensions) of parts, by size.

The complexity of the design of the known device due to the presence of two helical springs and the complexity of the strain gauge, made magnetoelastic in the form of a transformer.

The low accuracy of measuring the size of a captured part by a known device is primarily due to the fact that the strain gauge is made on the basis of metallized rubber, which has a significant relative error (up to 30%) and his

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steresis (up to 30%), which limits its scope only as a relay element. In addition, the presence in the device of 2-coil springs (instead of the only one) can also lead to additional measurement errors.

The aim of the invention is to expand technological capabilities, simplify the design and improve the accuracy of measuring the size of the captured part.

The goal is achieved by the fact that in a sensing gripping device comprising a housing with gripping levers mounted thereon, a drive of their movement consisting of an inductance mounted on the hull between the levers and cores hinged to each of the gripping levers, a helical spring and strain gauge, located in the gap between the cores inside the inductor, and the gripping levers, the cores and the spring are made of ferromagnetic material, the spring is made with a flat plate nym cross section of turns, and a strain gauge is located on one of the turns of the spring.

Figure 1 shows a proposed, sensible gripping device; figure 2 - section aa in figure 1,

The device consists of a nonmagnetic body 1, in which a coil 2 of inductance is placed with ferromagnetic cores 3 hinged to gripping levers made in the form of rocker arms 4 having sponges 5 and mounted in case 1 on axis x 6, a spring 7 with a flat rectangular cross the cross section of the coils placed between the cores 3 inside the coil 2, and the strain gauge 8, fixed (installed) on the surface of one of the coils of the spring 7.

The device works as follows.

When a constant voltage is applied to the inductor 2, the cores 3 are pulled in, which act on the spring 7, deform it, and simultaneously rotate the rocker arms 4, as a result of which the jaws 5 approach each other to touch the surface of the piece to be captured (not shown). The deformation of the spring 7 is the sum of the deformations of all its turns. The deformation of each coil of the spring is made up of the deformations of its individual sections on one of

which the strain gauge 8 is installed. In the control system, for example, from the output of the measuring bridge (not shown), the strain gauge 8 is connected to the arm, an electrical signal is received, corresponding to the magnitude of the electrical resistance of the strain gauge. The value of the signal depends on the degree of deformation of the spring 7 and characterizes the size of the area

0 details taken from the device.

When the supply voltage is disconnected, the spring 7 returns the cores 3 and the jaws 5 to their original position. To prevent residual magnetization from building up on the jaws 5, the cores 3 and the spring 7, when the device is next turned on, the polarity of turning on the inductor 2 is reversed.

0 To compensate for the temperature error of measurements, the device can be equipped with an additional strain gauge (not shown) installed from the opposite surface of the turn section.

5 springs 7 and included in the other (opposite) shoulder of the measuring bridge.

The use of this gripping device in industrial robots will expand their technological capabilities,

0 will reduce operating costs, as well as allow measurement of the size of the captured parts with the greatest accuracy.

All this can lead to an increase in labor productivity and an economic effect.

Claims (1)

Claim Formula 0 containing a housing with mounted gripping levers, a drive for moving them, consisting of an inductance coil mounted on the hull between the levers, and cores pivotally attached to each of the gripping levers, a helical spring and a strain gauge located in the gap between the cores inside the coil inductance, with gripping levers, cores and 0 the spring is made of ferromagnetic material, characterized in that, in order to expand technological capabilities, simplify the design, as well as improve the accuracy of the size measurement 5 of the captured part, the spring is made with a flat rectangular cross section of the coils, and the strain gauge is located on one of the coils of the spring.  J 77 Ш1 25