Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 8 pdf

... positioning of workpieces may cause premature wear or damage of gripper or handling system in the long run. The same applies to faulty positioning of the gripper in relation to the workpiece. Integrating ... applied in case of workpiece tolerances leading to bracings. 143Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... PPMPARTSPERMINUTE4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP0ICKWITHSINGLEGRIPANDPLACE IN STACKS4ABLE0ICKANDPLACEONEWORKPIECE70WITHSINGLEGRIPSOURCEROBOMOTION4ABLE0ICKANDPLACEWORKPIECES70SONEBYONEPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4ABLE0ICKWORKPIECES70SONEBYONEANDPLACETHEM IN ONESTACKPERFORMANCEINCREASECOMPAREDTOSINGLEGRIP4HEWORKPIECES IN THE EXAMPLEMUSTBEROTATEDDEGREEBEFORETHEYCANBEPICKEDUPBY THE MULTIPLEGRIPPER3UCHSUPPOSEDLYEASYCHANGES OF WORKPIECEORIENTATIONCANNOTBEPERFORMEDEFlCIENTLYBYMULTIPLE GRIPPERS IN PRACTICE4HEEXPENDITUREFORPROCESSRELIABILITYANDPERIPHERALADJUSTMENTISSUBSTANTIALCOMPAREDTO THE SINGLEGRIPPERWHICHOFTENPAYSBETTERDESPITEHIGHERCOSTFOR THE HANDLING DEVICE4HEPRINCIPLE OF MULTIPLEGRIPPINGDESCRIBEDSOFARISBASEDON THE ASSUMPTIONTHATALLWORKPIECESAREPICKEDUPBY THE GRIPPERAT THE SAMETIMEANDSUBSEQUENTLYPLACEDAT THE SAMETIME4HEPRINCIPLE OF STACK GRIPPERS WHICHHASlRSTBEENINTRODUCEDAT THE !54 /-! 4)#! IN -UNICH'ERMANYFUNCTIONSACCORDINGTO THE SINGLEGRIPPERCONCEPTBUTISABLETOSTORESEVERALWORKPIECESWITHIN THE GRIPPER$EPENDINGONWORKPIECEDIMENSION THE GRIPPEROFFERSASAVINGCAPACITY OF MINIMUMTWOWORKPIECESANDEXTREMELYSHORTOPENINGANDCLOSINGTIMES&OREFlCIENCYREASONS THE TIMEFORPICKINGAWORKPIECEUPANDSTORINGITWITHIN THE STACKGRIPPERMUSTBESHORTERTHAN THE TIMEFOR THE HANDLING MOVEMENTTRANSPORTPERFORMEDBY THE ROBOTORAXISSYSTEM3EVERALSUCCESSIVEPICKANDPLACEOPERATIONSPERFORMEDBY THE STACKGRIPPERMAKECYCLETIMESHORTERTHANSINGLEPICKANDPLACEOPERATIONSACCORDINGTO THE CLASSICPRINCIPLE OF SINGLEGRIPPING4HESTACKGRIPPERCOMBINESATLEAST PART OF THE BENElTS OF THE SINGLEGRIPPERWITHTHOSE OF THE MULTIPLEGRIPPER-OREOVERTHISGRIPPERHASASOCALLEDDUALSTROKEOPTION4HELATTERREDUCESCYCLETIMEISREDUCEDBECAUSE THE GRIPPERISABLETOPICKWORKPIECESONEAFTER THE OTHER IN SEQUENCEANDRELEASETHEMALLAT THE SAMETIMEPARALLELAT THE PLACESTATION!LIGNMENTPATTERNFORPLACEOPERATIONSREQUIRESROTATINGWORKPIECESDEGREE4ASKINCLUDESPICKOPERATIONFROMACONVEYOROPTIMIZEDFORBLENDANDPLACEOPERATIONFORPACKAGING0LACING IN STACKSDEGREEROTATION OF STACK3ELFSUPPORTINGSYSTEMSORINDIRECTLINKAGESAREDECOUPLEDFROMMATERIALSmOWBYBUFFERSORMAGAZINES4HEWORKPIECESARETAKENFROMSTORAGETOAPROCESSINGSTATIONWHERETHEYAREMANIPULATEDORREORIENTEDANDSUBSEQUENTLYPLACEDFORSTORAGEAGAIN4HEMATERIALSmOWMUSTBEDISTINGUISHED IN ASFARASCYCLETIMESARESELECTEDWITH THE RESULTTHAT THE HANDLING OPERATIONMUSTWAITFOR THE PROCESSINGMACHINE3WIVELUNITSAREFREQUENTLYEMPLOYEDTOAVOIDIDLINGDURINGWORKPIECECHANGE IN THE PROCESSINGMACHINE+INETICDEVICESWHICHCARRY THE GRIPPERS AREUSUALLYHIGHTECHCOMPONENTSWHICHAREMUCHMOREEXPENSIVETHAN THE GRIPPERS !SIXAXISROBOTFOREXAMPLECOSTSFARMORETHAN THE GRIPPERPERFORMING THE PICKOPERATION&ORMOSTINVESTMENTS IN AUTOMATIONPROlTABILITYCALCULATIONINCLUDES HANDLING OUTPUTPERMINUTEIEAROBOTWILLONLYPAYIFITISABLETOMOVEAMINIMUMNUMBER OF WORKPIECESPERMINUTE4HESEECONOMICCONCERNSLEADSFROM THE PRINCIPLE OF SINGLEGRIPPINGTO THE PRINCIPLE OF MULTIPLEGRIPPINGTOREDUCECYCLETIMEPERWORKPIECE/NEBENElT OF SINGLEGRIPPINGISTHATGRIPPERDESIGNDOESNOTNEEDTOBEVERYSOPHISTICATED!TWOlNGERORTHREElNGERGRIPPERWILLBESUFlCIENT#OMBINEDWITHAMULTIAXISROBOT THE GRIPPERCANmEXIBLYENCLOSEWORKPIECESBECAUSEGRIPPERPOSITIONINGCANBECOMBINEDWITHMOSTDIVERSEWORKPIECEORIENTATIONS)NTERMS OF WORKPIECEPOSITIONING IN THE WORKSPACE THE ROBOTCANMAKEFULLUSE OF ITSmEXIBILITY7ORKPIECEORIENTATIONISNOTIMPORTANTFORRELIABLEPICKOPERATIONS IN THISCASE&IGURE-ATERIALSmOWFORSELFSUPPORTINGSYSTEMWITHOUTSWIVELUNITsliding...

... Therefore, the rolls are picked up by a triple concentric gripper from the inside opening. The gripper fingers were designed to maintain the weight of the rolls by either force-fit or form-fit ... gripping. Thus the four-axis robot can pick and place the rolls from the pallet as well as from the cutting machine. In addition, increased air pressure is used to ensure the necessary gripping ... up in one stroke, the gripper needs to bring both gripping components into the right distance to each other. A spindle driven linear axis takes the gripper into position before it enters the...

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... λ1 - 2Nmkg39 Handling: The Underrated Process1.3 What Are The Main Points of This Book? The following chapters focus on the realization of handling technol-ogy tasks. Keynote is the process ... to be gripped. Handling Handling means creating, defined changing or temporarily maintain-ing a pre-set alignment of geometrically defined bodies in a system of coordinates. Further parameters ... ratios at the time. The force/weight ratio, i. e. the grip-ping force in relation to the weight of the gripper multiplied by the stroke of the finger, was at 2.4 J/kg for the short stroke. The next...

... sight.Special kinematics were developed for handling presses in order to significantly increase the cycle time of robots. The Bilsing-Unimate, which you can see in the picture, is a good example of a ... survived the stiffening competition dur-ing the first years. In the first robot catalogs published in the former German Democratic Republic (1 983 edition by the Forschungszen-trum des Werkzeugmaschinenbaus, ... Werkzeugmaschinenbaus, Karl-Marx-Stadt) and nearly parallel in the Federal Republic of Germany (1 984 edition by the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany)...

... they had reached a certain level.62industrial robotterminalrobot controloffline programmingcomputerrobot kinematicsmulti-sensor systemFigure 2.13 Of ine programming in the early 80 sFirst ... orientation of the workpieces in relation to the tool`s or the gripper`s system of co-ordinates. This Secure function is usually built up before the moving process, maintained during the moving process, ... 4.000 8. 0006.9695.2722.9622.977 88 4 82 3770900725 787 5 18 5332561991491307.0006.0005.000 The German Federation of the Engineering Industries VDMA gives the following outlook in its...

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... than in the other examples. Form-fit gripping in the direction of accelera-tion and of gravity is provided in the second example. The gripper must counteract the force which stretches the gripper ... 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