CA2053401A1 - Electromagnetic attachment mechanism - Google Patents

Electromagnetic attachment mechanism

Info

Publication number
CA2053401A1
CA2053401A1 CA2053401A CA2053401A CA2053401A1 CA 2053401 A1 CA2053401 A1 CA 2053401A1 CA 2053401 A CA2053401 A CA 2053401A CA 2053401 A CA2053401 A CA 2053401A CA 2053401 A1 CA2053401 A1 CA 2053401A1
Authority
CA
Canada
Prior art keywords
power source
grapple
pull
control circuit
coil
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CA2053401A
Other languages
French (fr)
Other versions
CA2053401C (en
Inventor
Leo G. Monford, Jr.
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Aeronautics and Space Administration NASA
Original Assignee
Leo G. Monford, Jr.
Government Of The United States, As Represented By The Administrator Of The National Aeronautics And Space Administration (The)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Leo G. Monford, Jr., Government Of The United States, As Represented By The Administrator Of The National Aeronautics And Space Administration (The) filed Critical Leo G. Monford, Jr.
Publication of CA2053401A1 publication Critical patent/CA2053401A1/en
Application granted granted Critical
Publication of CA2053401C publication Critical patent/CA2053401C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
    • B64G1/641—Interstage or payload connectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G4/00—Tools specially adapted for use in space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/04—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by magnetic means
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Abstract

An electromagnetic attachment mechanism for use as an end effector of a remote manipulator system. A pair of electromagnets 15A,15B, each with a U-shaped magnetic core with a pull-in coil 34 and two holding coils 35,36 are mounted by a spring suspension system 38,47 on a base plate 25 of the mechanism housing 30 with end pole pieces 21,22 adapted to move through openings in the base plate when the attractive force of the electromagnets is exerted on a strike plate 65 of a grapple fixture 20 affixed to a target object 14. The pole pieces are spaced by an air gap from the strike plate when the mechanism first contacts the grapple fixture.
An individual control circuit and power source is provided for the pull-in coil and one holding coil of each electro-magnet. A back-up control circuit connected to the two power sources and a third power source is provided for the remaining holding coils. When energized, the pull-in coils overcome the suspension system and air gap and are automati-cally de-energized when the pole pieces move to grapple and impose a preload force across the grapple interface. A bat-tery back-up 89A,89B is a redundant power source for each electromagnet in each individual control circuit and is auto-matically connected upon failure of the primary power source.
A centerline mounted camera 31 and video monitor 70 are used in cooperation with a target pattern 19 on the reflective surface 67 of the strike plate to effect targeting and align-ment.
CA002053401A 1990-12-31 1991-10-11 Electromagnetic attachment mechanism Expired - Fee Related CA2053401C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US636,531 1990-12-31
US07/636,531 US5145227A (en) 1990-12-31 1990-12-31 Electromagnetic attachment mechanism

Publications (2)

Publication Number Publication Date
CA2053401A1 true CA2053401A1 (en) 1992-07-01
CA2053401C CA2053401C (en) 1995-10-17

Family

ID=24552308

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002053401A Expired - Fee Related CA2053401C (en) 1990-12-31 1991-10-11 Electromagnetic attachment mechanism

Country Status (2)

Country Link
US (2) US5145227A (en)
CA (1) CA2053401C (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113954106A (en) * 2015-09-08 2022-01-21 伯克希尔格雷股份有限公司 System and method for providing high flow vacuum acquisition in an automated system

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Cited By (3)

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Publication number Priority date Publication date Assignee Title
CN113954106A (en) * 2015-09-08 2022-01-21 伯克希尔格雷股份有限公司 System and method for providing high flow vacuum acquisition in an automated system
CN113954106B (en) * 2015-09-08 2023-10-27 伯克希尔格雷营业股份有限公司 System and method for providing high flow vacuum acquisition in an automated system
US11945100B2 (en) 2015-09-08 2024-04-02 Berkshire Grey Operating Company, Inc. Systems and methods for providing high flow vacuum acquisition in automated systems

Also Published As

Publication number Publication date
US5449211A (en) 1995-09-12
CA2053401C (en) 1995-10-17
US5145227A (en) 1992-09-08

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