Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 1 ppt

... 7 .1 - 9 /10 fast progress in motor learning aptitudeLate childhood 10 /11 - 11 /12 10 /11 - 12 /13 best motor learning aptitudeEarly youth (pubescence) 11 /12 - 13 /14 12 /13 - 14 .5 restructuring kinetic ... proficien-ciesLate youth (adolescence) 13 /14 - 17 /18 14 . 6 -1 8 /19 developing gender-specific differentia-tion, progressive individualization and increasing stabilizationEarly adulthood 18 /20 - 30 ... iÀÊ-VÕ/iÊ>ÃV>ÌÊvÊÕÌ>Ìi`Ê>`}Ê/>ÃÃÀ««iÀÃÊÊÌ 1. 1 The Handling Process The process of handling component parts or workpieces in produc-tion is often underrated as technically simple or even trivial. From the production point of view...

... t λ 1 - 2Nmkg39 Handling: The Underrated Process 1. 3 What Are The Main Points of This Book? The following chapters focus on the realization of handling technol-ogy tasks. Keynote is the ... handling VDI 2860conveyingVDI 2 411 storingVDI 2 411 effecting materials flow Handling: The Underrated Process 1 Setup The term is used in connection with the availability of workpieces. ... 1, 370NPGNPGN-plus20 011 983 19 85 19 87 19 89 19 91 1993 19 95 19 97 19 99 2003By comparing three parallel jaw grippers at various stages of devel-opment, the efficiency increase can be illustrated (see figure 2.3). The standard...

... rotationsmoving unit moving unit moving unit moving unit State :12 /19 83 10 0% = 13 4 industrial robotsHorizontal tilt arm devicesCartesian devicesCylinder-coordinate devicesSphere-coordinate ... rotationsmoving unit moving unit moving unit moving unit State :12 /19 83 10 0% = 13 4 industrial robotsHorizontal tilt arm devicesCartesian devicesCylinder-coordinate devicesSphere-coordinate ... devices8%5% 11 %40%20% 16 % (1) (2)(3)(4)(5)(5)(4)(3)(2) (1) 200320023-axispieces0 2.000 4.000 6.000 8.000 10 .0002.5222.2634-axis 1. 598 1. 2045-axis2 21 2666-axis and more9.0408 .12 9Figure...

... technologyOtherpieces0 1. 000 2.000 3.000 4.000 5.000 6.000 7.000 8.000 9.000 10 .0009.8847.402 1. 044 1. 003876752337345254249243208 17 7 18 7 16 3 17 4 13 8 13 179 14 1 1. 186 1. 270Figure 2 .10 Industrial ... soon as they had reached a certain level.62industrial robotterminalrobot controloffline programmingcomputerrobot kinematicsmulti-sensor systemFigure 2 .13 Of ine programming in the early ... 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,...

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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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... N0200400600800 10 00 12 00 14 00 16 00gripping force diagram gripping force in relation to the finger length L at 6 bar PGN 10 0 - 1 PGN 10 0 - 2PGN 10 0 - 1 / AS/ISPGN 10 0 - 2 / AS/ISMy=70NmMz=80NmMx= 10 0NmFa ... gripperCGJSCGSQCGJSQCGSone-purpose gripper 1 several OEprismatic jawscomb jawsmold jawsadjustable jawsdual gripper24 - 10 2 - oo2 - oo2 - oo2 - oo2 - 3 1 - 3 1 - 4 1 - 5 1 - 6flexible gripper ... AS/ISMy=70NmMz=80NmMx= 10 0NmFa = 2000Nfinger length L in mmgripping force in N25002000 15 00 10 005000gripping force diagram gripping force in relation to the finger length L at 6 bar PGN 10 0 - 1 PGN 10 0 -...

... applied in case of workpiece tolerances leading to bracings. 14 3Getting To Grips With Handling Tasks 3 In addition to placing them in stacks the workpieces can be placed in rows if the gripper ... 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 ... 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...

... £n'ETTING4O'RIPS7ITH(ANDLING4ASKS4HElNGER GRIPPERS ALREADYMENTIONEDREQUIREEVENMORESENSITIVESENSORS4HElNGERS OF THE "ARRET(ANDAREBASEDON $-3 STRAINGAUGETECHNOLOGYWHICHPERMITSTHEMTOHAVEASENSE OF TOUCH4HEEVALUATIONUNITWHICHCONVERTSSENSORDATAINTOPOSITIONINGORDERSFOR THE DRIVESISALSOINTEGRATEDINTO THE HAND IN ACCORDANCEWITH THE MODULARCONCEPT4HElGURESSHOW THE SENSORS IN THE lNGERSAND THE EVALUATIONUNITWITH THE CIRCUITBOARD IN THE mANGE OF THE HAND!VERYSPECIALKIND OF SENSORTECHNOLOGYHASBEENDEVELOPEDFOR THE FOLLOWINGGRIPPER4HISSMALLPARTSGRIPPERHASANELECTRICDRIVEANDCANBEEQUIPPEDWITHUPTOSENSORS4HECONSTRUCTIONINTEGRATES THE ENTIRECONTROLELECTRONICSINTO THE GRIPPERASWELL4HESENSORSCANMEASURETEMPERATUREFORCEPOSITIONANDEVENWORKPIECECONDUCTIVITY#URRENTEFFORTS IN SENSORINTEGRATIONSIGNALAFUTURETRENDFOR THE FOLLOWINGGRIPPERATTRIBUTESWHICHWILLBEAVAILABLEWITHIN THE NEXTFEWYEARSsADAPTABILITYsSENSE OF TOUCHsVISUALACUITYhEYESIGHTvsINTERACTIVITYhACTINGANDREACTINGv#!$IMAGESENSORS IN THE lNGER OF THE "ARRET(AND%VALUATIONUNITWITHCIRCUITBOARDÃÌ>>ÌÊ«ÌÃÊ ... forces which result from the accel-eration of the earth, in order to calculate the force required for force-fit gripping. Profound knowledge of the movements performed by the gripper permits a ... competent decision on the gripper con-struction. The following overview includes the necessary steps for analyzing workpiece kinetics and calculating the corresponding gripping force. Table...

... fitted to the inner ring of the sensor. The tool (or gripper) force is transmitted by three crossbars onto the fixture ring of the robot. Figure 4.9 FTC principle of functionFT sensor in operation ... transmitting information from the gripper to the control of the kinetic device is wireless transmission technology. The latter can be expected to greatly reduce the amount of cabling in automation ... into the pick position.Auxiliary process time for feeding the processing machine is reduced to a minimum as the swivel movement can be performed without any or with minimum effort by the handling...