SU727425A1 - Gripper - Google Patents

Description

The invention relates to mechanical engineering and can find application in industrial robots and manipulators for reliable and quick fixing of parts (blanks).

Known jaws containing jaws associated with the drive and placed on them electromagnets connected to a direct current source [1J.

The disadvantages of such captures are low speed and low reliability.

To ensure speed and reliability, an electromagnetic relay is included in the circuit of one of the electromagnets, which simultaneously connects both terminals of the electromagnet to each individual pole of the power source by the pairs of its contacts, one of the contacts of the pair being closed and the other pajq closed. .

The drawing shows the proposed capture, General view.

It contains jaws 1 connected to the drive (not shown in the drawing) and interacting with part 2. Electromagnets 3 and 4 are fixed on the working side of jaws 1. As a core of electromagnets Zi 4, either a solid ferromagnet or a permanent magnet is used (for example, for sheet trade), or a thin-walled elastic cylinder filled with a finely dispersed substance with the addition of ferromagnetic powder (for example, for bulk workpieces). The conclusions of the winding of the electromagnet 3 are connected directly to the DC source 5, and the conclusions of the winding of the electromagnet 4 are connected through an electromagnetic relay 6, which simultaneously connects both terminals of the electromagnet with each individual pole of the power source by pairs of its contacts (7, 8 and 9, 10), and one of the contacts of the pair is closed (8 and 10), and the other is open (7 and 9).

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The device operates as follows.

In the initial position, before grasping the parts 2, the jaws 1 are separated, the winding of the electromagnet 4 through the closed contacts 8 and 10 of the relay 6 is connected to the power supply 5 in such a way that there is a mutual repulsion of the fields of electromagnets 3 and 4. Contacts 7 and 9 of the rally 6 are open.

With the beginning of the rapprochement of the jaws 1, contacts 8 and 10 of the relay 6 open, and contacts 7 and 9 of the same relay are closed, as a result of which the polarity of the winding of electromagnet 4 and the fields of electromagnets 3 and 4 are mutually attracted. The gripping of part 2 occurs, the force of which is the sum of the drive forces and the interaction of electromagnetic fields.

In order for the grip to release part 2 and contacts 7 and 9 of relay 6 are opened, and contacts 8 and 10 of the same relay are closed, resulting in a change in the polarity of the winding of electromagnet 4 and the fields of electromagnets 3 and 4 are mutually repelled. Sponges 1 diverge. The gripping expansion force is the sum of the drive forces and the interaction of electromagnetic fields.

Claims (1)

Claim The capture, for example, of an industrial robot containing jaws connected to the drive and placed on them electromagnets, connected to a constant source, of the marrow, is distinguished by the fact that, in order to ensure speed and increase reliability, in the circuit of one of electromagnets included electromagnetic; a relay connecting at the same time both outputs of the electromagnet with each individual pole of the power source by its pairs 20 contacts, and one of the contacts of the pair is closed, and the other is open.