DD200352A1 - ELECTROMAGNETIC MULTIFUNCTION GRIPPERS FOR FERROMAGNETIC MATERIALS - Google Patents

Abstract

The gripper can be used wherever ferromagnetic objects are to be manipulated. The aim of the invention is to provide with this gripper a versatile device with a wide range of applications for the use of modern Rationalisierungsmittel, especially in the context of industrial robots. This gripper can be manipulated in one and the same design a variety of ferromagnetic objects. In conjunction with built-in sensors, a fast and correct working under constantly changing conditions in the object supply is possible. When manipulating perforated sheets, etc. suitable parts can be through the gripper under certain technological conditions, etc. also perform a sheet separation. Fig. 1

Description

Classification proposal: B 65 G

Title of the invention

Electromagnetic multi-function gripper for ferromagnetic materials

Field of application of the invention

The multi-function gripper can be used in all operations and installations where ferromagnetic objects of various shapes are handled. »Particularly suitable is the gripper for manipulating perforated plates o _c ä« In addition, this gripper can be used advantageously on industrial robots

Characteristic of the known technical solutions

Electromagnetic grippers for ferromagnetic materials are generally known and used. However, they are designed as an integral part of technological equipment exclusively for gripping one or more workpieces of certain shapes and weights. Such grippers are used only in a process-specific manner, ie "They are for a technology - and are firmly connected to the system»

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The scope of functions only refers to gripping. Extensive options set the objects to be handled sorted, positioned and isolated for the gripper. The gripper then transports these objects, and again other devices take further technological steps.

When using manipulators, the use of such grippers requires complicated peripheral handling equipment such as folders, magazines, positioning devices, etc.

The gripper of this invention However, the mentioned tasks take on the additional periphery and is variable in the handling of various objects. Its universal characteristics make it more flexible and productive in comparison with conventional known grippers, and with less effort under complicated working conditions.

Object of the invention

The aim of the invention is to develop a gripper for ferromagnetic objects, which in addition to the actual function of gripping can take over additional handling functions and thus eliminates the existing disadvantages of known electromagnetic grippers. The allocation of additional handling functions makes the saving more complicated Another object of the invention is to achieve a wide application range of the gripper in terms of workpiece geometry and dimensions.

Such grippers are to be used on industrial robots, therefore, it is a further object of the invention to provide the gripper with sensors whose signals are processed by the control of the industrial robot

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Presentation of the invention

The present technical solution provides, in its particular embodiment and in its multifunctional mode of operation, to transport objects of different mass, shape and dimensions from one point to another.

The gripper can be combined with a computing technique. Here, the gripper via external control and / or sensor system can search desired or variable positions or start up, leave _$ absorb signals, evaluate them on a computer and then perform the appropriate steps.

With the gripper itself, it is possible to separate or separate objects, such as sheets, which it removes from a stack or magazines. It is also possible to transfer shear forces and torques to the object to be handled via a system of the gripper «

The gripper, in the context of the invention, combines in itself the following functions;

grasping a variety of ferromagnetic »Share with only one gripper, grasping diverse parts with only one gripper version, adapting to an irregular surface, checking the On" or _e absence of parts, searching when processing stacks, magazines o _e ä «, the singling of holes. .plates or similar parts, the transmission of a thrust or torque component perpendicular to the magnet force, the control of the magnetic adhesion, the self-energizing operation of the magnets, the group-wide activation or deactivation of the magnets. 'or system-wise switching on or off of the magnets and the free programmability.

The gripper consists of a gripper frame 1, which is equipped with a number of electromagnets 2. The gripper frame 1 is designed in lightweight construction. The number of magnets, the arrangement scheme and the shape of the gripper depend on the required work task. The gripper is equipped with a simple connection 4, which allows fast and easy attachment to devices or industrial robots, as well as quick retooling. A built-in or attached sensor technology 3 ensures fast and accurate operation of the gripper. The magnets can be switched as required via a computer program, control technology or sensor technology. «Under certain conditions, the gripper can execute the separation itself. He is equipped with a singulator system 5 that can solve this problem as follows:

- By adjusting the voltage of the E-magnets

- By starting the objects to the gripper via an air gap

by mechanical elements, e.g. Springs, pins, scrapers o.a.

- By pneumatic or hydraulic repelling systems that attack according to the shape of the objects or v / irken in perforated plates by the favorable arrangement of the holes or slots on the second stripped sheet metal. Fig. 1 ·.

-Hydraulic or pneumatic stop elements 6 allow the gripper, with its Manipulationsöbjekt ^'a: Forces'' exercise component perpendicular to the magnetic force.

In order to allow an approximation of the magnets to the surface of the objects to be gripped, these are held in a hydraulic surface adjustment system 7, as shown in Fig. 2. So will be the greatest possible

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Contact surface reached, objects with an uneven surface can be gripped safely. The gripper thus not only expands its range of objects to be handled, but also softly adjusts to the parts thanks to this system and adapts optimally. Then the hydraulic circuit is disabled and the lifting process can begin.

Example of execution

χ The gripper is designed in its most appropriate form as a surface grip. The dimensions and the shape depend on the size, mass, shape and number of objects to be gripped, as well as the number and arrangement of the magnets.

In this embodiment described here, the gripper is attached via a terminal 4 to an industrial robot. The technological cycle begins when the robot is equipped with this gripper to retrieve the required objects from magazines. The gripper scans in the magazine on a perforated plate until the sensor technology 3 responds. The signal triggered by this occurs, controlled by an externally installed system, for the programmed adaptation of the magnets to the surface of the objects to be gripped with the aid of the hydraulic adaptation system FIG. 2.

The perforated sheets, which do not have a flat surface here. 'are alternately stored in the magazine so that always a recess of a perforated plate on the full material of

^: '··''to lie to subsequent sheets'. _e 'The magnets are switched on. The perforated plate is caught by the magnetic force and is raised by a programmed path. Now the separation system 5 is triggered »The elements of this system move beyond the outer dimensions of the gripper« They hit the recess

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the first taken perforated sheet and press on the full material of the subsequent perforated plate and repel any unwanted sheets that fall back into the magazine. If the singulation process is completed, the sheet is placed at its technologically predetermined place, in which case the magnets are switched off programmed.

The gripper is now ready to perform further punctures. In our case, cylindrical sheet metal parts are now removed from another magazine. The recording of these parts is done in a similar manner as previously described. The arrangement of the sensor technology 3 as well as the distribution and the Zuschaltschema are optimized so that no conversion of gripping technology is required for several assortments. Also these parts in the pallet together with the sheets, which serve here as intermediate layers, then the pallet is closed with a closing plate. This end plate is taken just like the perforated plate from a corresponding magazine and inserted as the last sheet in the range. Using the stop elements 6, the gripper brings a thrust component, so that the end position engages and closes in the closure device of the pallet. Thereafter, the repetition of the cycle described as in this or modified form in all its details, which are programmed computer-aided.

Claims (1)

ο ο I 4 invention claim Electromagnetic multifunctional gripper for ferromagnetic Y / erkstoffe, characterized in that it with a finite number of electromagnets (2), with a sensor technology (3), with a pneumatic or hydraulically controlled separation system (5), with pneumatically or hydraulically operating stop elements (S) and equipped with a hydraulic surface adjustment system (7) and that it is freely programmable in its functions with a control technology » The gripper according to Pi ^ j / f 1, characterized in that the electromagnet © (2) optionally or programmed as a unit or in groups are switched. The gripper according to ß <AV \ Ki "U characterized by the fact that the magnetic force is optionally set in size« Berm. A. Pages drawings