DOCKING DEVICE Russian patent published in 2021 - IPC B25J15/04 

FIELD: mechanical engineering.

SUBSTANCE: invention relates to a docking device for installing and securing replaceable tools and grips located in the storage magazine at the final link of the manipulator of an industrial robot. The device contains the connecting surfaces of the connecting elements facing each other with the centering elements in the form of fingers and holes for them, mirrored on them, while the end link of the manipulator and the tool and grip housings are equipped with connecting platforms made of non-magnetic material, two holes are made on the docking surface of the platform of the end link of the manipulator, in which electromagnets with a housing anchor are coaxially installed, ferromagnetic housings of which in the form of cups are provided with covers made integral with the cores of coils, installed inside the housings and equipped with bypass collars on the flat ends of the mentioned cores. The bottoms of the cups facing towards the fingers have central holes equipped with guide chamfers, which are centering elements for two ferromagnetic fingers equipped with flanges with diameters equal to the outer diameter of the electromagnet housings mounted on another platform, which are the housing anchors of the mentioned electromagnets. In this case, one of the fingers is cylindrical, the other finger, made with a cross-section in the form of a rhombus, has two longitudinal ribbons, which are parts of the original outer cylindrical finger forming, located in a plane passing through the large diagonal of the said rhombus, perpendicular to the line drawn through the centers of the fingers.

EFFECT: increase in the manufacturability and reliability of work.

1 cl, 4 dwg