MTUSI: Model of pneumatic magnetic capture of a robot manipulator

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2024: Announcement of the model of pneumatic magnetic capture of the robot manipulator

The Russian scientists patented a model of a pneumatic magnetic grip-manipulator robot. This was announced on August 30, 2024 by representatives. MTUSI

source = MTUCI

In today's world, robotic manipulators are widely used for a variety of tasks: from assembling products and manufacturing high-precision parts to servicing equipment in conditions that exclude the presence of humans. The main task of robots is still the movement of objects in space.

A manipulator is a kinematic chain formed by a series or series-parallel connection of bodies called kinematic links, and designed to convert the movement of these links into the required (given) clamping motion. Kinematic links are connected to each other movably by means of kinematic pairs.

The introduction of computer vision into the field of robotics requires more and more universal solutions for capturing and moving metal objects of various shapes and sizes. Despite existing developments, none of these solutions can fully meet the needs of modern automated systems. For example, some devices are complex overall structures, which reduces the load capacity of the robot manipulator, as well as existing gripping devices do not allow work with computer vision, because the error is not taken into account when approaching the captured product. Thus, there is a need for a solution that can be used to sort metal objects by a robot manipulator and work in conjunction with a vision system.

Employees of the Department of ISUiA MTUSI proposed a solution - scientists have developed and patented a model of pneumatic magnetic gripping of a robotic manipulator, designed, in particular, to perform the functions of "take" and "install" ferromagnetic products on the work surface in the processes of loading, unloading, laying or laying products.

The main goal of the development is to create a gripping device of robotic manipulators for working with ferromagnetic parts of any shape and the possibility of using it for computer vision systems, which allows expanding the scope of application of industrial robots and making them more versatile. To do this, a mock-up was made, which tested robotics Kuka KR4 R600 in laboratory conditions at the MTUSI Center on a robot.

The pneumatic magnetic grip of the robot manipulator consists of a body with a piston with a permanent magnet located in it. Gripper has holes for connection of vacuum lines, rod and attachment to robotic manipulator. Body is made of non-ferromagnetic material, permanent magnet has protective cover, is made of neodymium alloy and is installed on piston equipped with slot for rubber seal. The attachment to the robot manipulator is located vertically relative to the flange of the robot manipulator and is made of light wear-resistant material, and the rod connecting the grip body and the attachment of the robot manipulator is equipped with a spring-loaded damper, which increases the permissible error when approaching the part.

The device functions as follows: the pneumatic magnetic grip of the robot manipulator is mounted on the flange using a plastic platform and four bolts through the holes. Movement of the piston with a neodymium magnet fixed on it is carried out by means of two pneumatic lines connected through quick-detachable collet connectors in the holes. To move the piston into the slot, a sealing ring is installed. In order to avoid accumulation of metal chips, a protective cover is provided on the surface of the magnet, fixed with four bolts through holes to the aluminum body. When approaching the ferromagnetic product, the grip is equipped with a spring-loaded damper, including a rod, spring and cover. Rod connects gripper body with manipulator robot attachment. The cover is bolted to the rod. During article gripping compressed air is supplied via pneumatic line, moving piston to article. When the article is released, air is supplied through the pneumatic main, at the same time, air is taken through the other main, returning the piston to the initial position. explained Lilia Voronova, head. Department of ISUiA, Professor, Doctor of Medical Sciences

The staff of the Department of ISUiA MTUSI conducted tests within the walls of the university, which confirmed the holding force of capture (56 N or 5.71041 kg at clearance to the object 1 mm). The carrying capacity of the robot on which the test was carried out is 4 kg, which is less than the maximum carrying capacity of the grip.

Unlike other models, the use of a neodymium magnet makes it possible to optimize the system due to the absence of a current lead on the grip mechanism of the manipulator, thereby optimizing the reliability of the grip.

It is noteworthy that the developed design of the pickup device can be scalable depending on the task. Thus, the MTUSI Robotics Center has three versions of the grip with a different holding force: 56 N or 5.71041 kg, 155 N or 15.876 kg and 175 N or 17.861 kg.

All this makes the developed useful model of pneumatic magnetic capture of a robot manipulator a solution that can be used in conjunction with computer vision for the tasks of sorting metal objects.