SU996183A1

SU996183A1 - Manipulator

Info

Publication number: SU996183A1
Application number: SU802901909A
Authority: SU
Inventors: Владимир Марианович Койро
Original assignee: Рыбинский Авиационный Технологический Институт
Priority date: 1980-03-31
Filing date: 1980-03-31
Publication date: 1983-02-15

Description

(54) МАШЙУЛЯТОР(54) MASHULATOR

1 one

Изобретение относитс к манипул гоч poctpoeHioo н может быть нспользоваао дл автоматического поиска и захвата ферромагнитных деталей;This invention relates to a poctpoeHioo manipulator and may be used to automatically search for and capture ferromagnetic parts;

У зв&ства мйнапулхпюр дл захвата ф ро шгн1$гных деталей содержавши руку с захватом, выпошЕен ю в вщ1е Ш-образного сердечншса с обмоткой, систему управлени приводами перемешений, блок коммутации и источники посто нного и переменного тока |il} .The minapulhpur star has got a gripping arm with a grip that is captured in a W-shaped cord with a winding, a drive drive control system, a switching unit, and a DC and AC source | il}.

Недостатком известного манипул тора вл етс то, что деташЕ должны быть расположены на ферромагншной шжер ности , что сужает Ого технологические возможности.A disadvantage of the known manipulator is that the components must be located on the ferromagnet angle, which limits the technological possibilities.

Целью изобретени вл етс расширьвне технологических возможностей манипул тора путем обеспечени его работы в случа х, котда деталь paciiono-i же на неферромагнвтной поверхности.The aim of the invention is to expand the technological capabilities of the manipulator by ensuring its operation in cases where the paciiono-i part on the non-ferromagnetic surface.

Указанна цель достигаетс тем, что манш1ул т ф снабжен дополнигельню блоком сравнени и обмоткой.This goal is achieved by the fact that the manual is equipped with an additional comparator unit and a winding.

причем обе обмотки подключены ко входам блока сравнени , первый выход которого соединен с с истемой управлени приводами перемещений, а втqpoй вы: ЗЮД - С блоком КОМ иОГтацИИ, к BTOpOKfvand both windings are connected to the inputs of the comparison unit, the first output of which is connected to the displacement drive control system, and then you are: SUD - With the COM module, to BTOpOKfv

присоединены источники посто нного и перемеЕшого тока, а выход блока комму гташга св зан с каждой из обмоток.DC and AC power sources are connected, and the output of the commutator unit is connected to each winding.

На фиг. 1 изображен манипул тор,. общий вид; на фиг. 2 - принципиальна схема манипул тора; на фиг. 3 - график зависимости относительного изменени амплитуды сигнала, снимаемого с мосто- вой схемы, от взатадного расположещ1 электромагнита и детали; на фиг. 4 структурна схема управлени и питани манипул тора.FIG. 1 depicts a manipulator. general form; in fig. 2 - schematic diagram of the manipulator; in fig. 3 is a graph of the relative change in the amplitude of the signal taken from the bridge circuit versus the rear location of the electromagnet and part; in fig. 4 Structural control circuit of the manipulator.

Claims

On arm 1 of Maminynsrropa, a gripper is installed, made in the form of an W-shaped magnigopipe 2, with two windings 3 and 4. Winding 3 and 4 are connected by means of block 5 via a bridge circuit, block 5 is in turn connected to block 6 of comparison made to any well-known pattern. The comparison unit 6 is connected with the control system 7, displacement drives, as well as with the switching unit 8, which is a key. The other two inputs of the switching unit are connected to a constant source 9 and an alternating current source 10. Winding 3 and 4 are connected to the output of the switching unit 8. Parts 11 are located on the plane above which the grip is placed. The Manipulator operates as follows. The capture arm 1 carries out search movements. With the help of the switching unit 8, the source 10 of the alternating current is connected to the windings 3 and 4, This mode of operation is maintained until the part falls into the area of an electromagnet consisting of a magnetic circuit 2 with the windings Z 4, At this moment changing 1 lt of the signal removed from block 5 (see, fig. 3), block 6 of the comparison captures the sign of the amplitude change and sends a command to the displacement drive control system 7, the magnetic circuit 2 with the coils stops and then, depending on the sign of the change pounds on signal with 6 occurs Lok comparing its movement along the X axis until, until a change in signal amplitude, taken from the unit 5, not equal to zero of mill, At this point, the magnetic core 2 is stopped, its axis coincides approximately with the axis of symmetry 11. Details. Then, the magnetic circuit 2 is rotated around the Y axis, and according to the described principle, it is moved along the X axis until the amplitude: signal removed from block 5 changes to zero. Thus, the magnetic conductor 2 b W is placed on the part above it. According to the signal from the comparison unit 6, the switching unit 8 disconnects the windings 3 and 4 from the AC source 10 and connects them to the current source 9. The part is attracted to an electromagnet, made in the form of an H-shaped magnetic circuit 2 with coils 3 and 4. Then the manipulator mixes part 11 into the right place. Using the proposed manipulator allows you to eliminate the use of additional orienting devices. planes, that is, from the table, from a fixed conveyor belt, etc. Claims of the Invention it is equipped with a comparison unit and a second winding, with both windings connected to the inputs of the comparison unit, the first output of which is connected to the displacement drive control system, and the second output to the switching unit DC and AC sources are connected, and the output of the switching unit is connected to each of the windings,. Sources of information taken into account in the examination 1, USSR Copyright Certificate f 649566, class B 25 J 9/00, 1976,

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