Electromagnetic effector for gripping and releasing screw coupling of screw coupling couplers and method of gripping and releasing screw coupling of screw coupling coupler by means of that effector

摘要

The electromagnetic effector according to the present invention is fastened on a robot situated on a car, which moves parallel to the split cars. The effector comprises a system of arms (3, 5, 7) being vertically connected in pendulum manner by means of pins (4, 6), whereby the main arm (5) is provided on its bottom side with main electromagnets (9), in its central section it is connected through the mediation of a pin (4) with one end of a connecting arm (3), while from each side an outer arm (7) is connected by means of pins (6) to the edges of the main arm (5). Both outer arms (7) are provided on their bottom sides with outer electromagnets (8) and the effector is connected at the other end of the connecting arm (3) through the mediation of a pin (2) with a robot arm (1). A method of gripping and releasing screw coupling of screw coupling coupler by means of the above-described effector is carried out such that the robot arm (1) provided with the effector comes in between the comes in between split cars, moves perpendicularly downward to the rail axis until it contacts the screw coupling, whereby the main electromagnets (9) attract to a spindle (21), the outer electromagnet (8) of one outer arm (7) attracts to a fishplate (20) while the outer electromagnet (8) of the other arm (7) attracts to a lug (22). After attracting the electromagnets (8, 9) to the screw coupling, the arm (1) starts successively lift upwards along with the attracted screw coupling until the distance between the pin (25) and the hook (23) does not exceed the lug (22) length. Thereafter, supply of electricity to the outer electromagnets (8) is cut, and 0.3 second after that the supply of electricity to the main electromagnets (9) is cut, the screw coupling moves due to its own weight past the pin (24) downwards into position perpendicularly to the rail plane and at the end the robot arms (1) with the effector returns back to the initial position.