SU755552A1 - Manipulator - Google Patents

Description

The invention relates to the field of engineering, namely to manipulators for manipulating and transporting parts, for example, in the electronic and radio industry.

Known manipulator, in which for fixing parts using the interaction of electric charges in the plate with the electrostatic field of the manipulator. The manipulator contains a tip with electrodes connected via a switching device to a source of a CONSTANT high voltage [1].

The disadvantage of this manipulator is that it cannot capture parts that have non-planar shapes and does not have high reliability. This is due to the limitation of the working area of contact when the convex surface of the electrode is gripped by the fixed part, as well as the requirement of high-class processing of this surface.

The ingress of foreign inclusions in the form of dust particles and other contaminants on the working contact surface between the part and the convex electrode also reduces the con2

tact square. All this leads to the limitation of the forces of electrostatic attraction.

The aim of the present invention is to provide the ability to capture parts of various shapes and increase reliability.

This goal is achieved by the fact that the tip is made in the form of an elastic funnel, and the electrodes are located on its outer surface.

FIG. 1 shows the manipulator, 10 times cut; in fig. 2 shows an example of a tip for dielectric flat parts; in fig. 3 is a view A of FIG. 2; in fig. 4 shows an example of a tip for parts with non-planar surfaces; in fig. 5 is a view B in FIG. four; in fig. 6 to ^15, node I in FIG. four; in fig. 7 — electric circuit; in fig. 8 shows an example of a tip for parts of various shapes;

in fig. 9 shows section B — B in FIG. eight.

The manipulator consists of a housing 1, a coupling device 2 with a power source 3, a tip 4 with electrodes 5 and 6, the findings of which are fixed in the contact slots 7 and 8. The contact grooves 7 and 8 when attaching the tip 4 in the housing 1

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enter the connection with the protrusions in the case, to which the electrodes from the source 3 of constant high voltage are connected through the switch 2.

The tip 4 is made of non-conductive elastic material, for example, rubber rubber, and the electrodes 5 and 6 are located on the inner surface of the funnel in the form of double curls. To the bottom of the wall thickness of the funnel decreases. The tip 4 serves to fix dielectric parts with non-planar surfaces and parts of various shapes, and can also work reliably with flat parts due to the large contact area. The dimensions of the tip 4 of the manipulator are determined by the size of the fixed parts.

To grip semiconducting and conductive parts, the working head of the manipulator is made of a semiconducting electric current of an elastic material, for example, rubber rubber filled with soot. The tip has around the circumference of the lower ¹ part of the funnel for reliable grip torus ring 9. Electrodes 5 and 6 are applied to the outer surface of the funnel and toroidal ring. Electrode leads are fixed in contact slots 7 and 8. Electrodes 5 and 6 are made in the form of solid metal coatings.

The tip 4 for handling parts of semiconducting and conductive materials is made, for example, of eight semiconducting elements 10-17, separated by dielectric 18 and provided on the outside with electrodes 5, 6, which are alternately connected to opposite poles of a constant high voltage source 3.

With certain ratios between the number of semiconducting elements, the width of the dielectric gap and the width of the elements themselves, the head is universal and fixes parts of various shapes from both the dielectric and the semiconducting and conductive materials.

The manipulator works as follows.

For gripping and securing the part to electrodes 5 and 6, a switching voltage 2 from source 3 is supplied by means of a switching device 2. With the lower expanded end of the funnel, the working head is superimposedly pressed onto the surface of the part to be gripped. When this occurs, the ponderomotive interaction of a fixed dielectric object with a non-uniform electrostatic field created by electrodes 5 and 6 above the inner surface of the funnel. The force P holding the fixed part is the difference of the electrostatic forces ^. attraction between the fixed part and the inner surface of the funnel and the force of the elastic Rule of resistance to the elastic material of the funnel.

r - Rea. - P y (^>.

With the seizure of semiconducting and conductive parts, there is an accumulation of opposite charges along the interface of the semiconducting elements 10-17 with the part. The interaction of these charges leads to attraction forces between the part and the internal fixing surface of the semiconducting elements.

After fixing with the part, the necessary movements and operations are carried out. When the tip 4 is disconnected from the voltage source 3, the electrodes 5 and 6 are short-circuited, the ponderomotive interaction between the part and the working surface of the head disappears and the object of manipulation is detached by elastic forces of the funnel, etc.

Claims (1)

Claim A manipulator containing a tip with electrodes connected via a switching device to a constant high voltage source, characterized in that, in order to enable the capture of parts of various shapes and increase reliability, the tip is designed as an elastic funnel, and the electrodes are located on its outer surface.