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start gripping moving placing • ambient conditions: type, temperature • workpieces: orientation, quantity, position, size, type Influencing factors Figure 1.3 Phases of a handling process and its ambient conditions Handling: The Underrated Process 1 The handling process can be basically characterized by counting the workpieces moved per unit of time. This characteristic, however, does not specify the amount of technical requirements for obtaining a desired cycle time. Complex workpieces and multiple ambient conditions can create different handling tasks to such an extent that a simple task of moving a workpiece from point A to B can become an extremely complex process. Human beings are naturally equipped with an enormously flexible “gripping technique”, efficient “sensors” and highly complex “data processing” and, therefore, tend to underrate such tasks. 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A workpiece is made ready when it is able 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 such as time, quantity, and path can be pre-set (source: VDI Verein Deutscher Ingenieure Guideline 2860). Handling is a subfunction of the materials flow and categorized on the same level as conveying or storing. 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The following chapters focus on the realization of handling technol- ogy tasks. Keynote is the process of integrating a workpiece into a moving device and put it into a new position or orientation. In order to illustrate the subject in a sensible selection we draw the analogy to human object handling. In line with this analogy we concentrate on gripping techniques which follow mechanical principles (force-lock and/or form-lock). Vacuum grippers and other gripper types are included but not covered in detail. However, work- piece movement with moving axes and robot technology from the gripper finger to the six-axis robot arm are thoroughly described. Chapter 1 explains terms and fundamentals of the subject. Chapter 2 gives an insight into the history of automation technol- ogy and robot development over the past 30 years, highlighting the milestones without any claim for completeness. An outlook on future developments awaiting us over the next few years, sup- ported by statistics and statements by the German federation of the engineering industries VDMA (Verband Deutscher Maschinen und Anlagenbauer) is included 1 30 >`Ê>ÝÃÊ ÃÜÛi}ÊÕÌÊ }À««iÀÊV>}}ÊÃÞÃÌiÊ `ÀÛi i`ivviVÌÀÊ ÜÀ«iVi }À««iÀÊi>ÌVÃÊ >Ê>ÝÃÊ ÀLÌÊ>À ÃiÃÀÃÊ >«ÌiÀÊÎÊiÝ«>ÃÊÌiÊÌiVV>ÊÀiµÕÀiiÌÃÊvÀÊ}À««}]ÊÃÌ>ÀÌ}Ê ÜÌÊÌiÊÜÀ«iViÊ>ÃÊÌiÊÀi>ÃÊvÀÊ>`}°Ê/iÊVÌÀ>ÌÃÊvÊ }À««}Ê>`ÊÌiÊÜÀ«iViÊÃiÌÕ«Ê>ÀiÊ`ÃVÕÃÃi`Ê>ÃÊÜi° Ê>«ÌiÀÊ{ÊÜÀ«iViÊÛiiÌÊ>ÃÊ«>ÀÌÊvÊÌiÊ}À««}Ê«ÀViÃÃÊ ÃÊ`ÃVÕÃÃi`°ÊÊL>ÃVÊÜi`}iÊvÊÀLÌVÃÊÌ>ÌÊÃÊiViÃÃ>ÀÞÊvÀÊ >ÕÌ>Ìi`ÊÛiiÌÃÊÃÊiÝ«>i`ÊvÀÊÀi>â}ÊëiÊÀÌ>ÀÞÊ>`Ê i>ÀÊÛiiÌÃÊÌÊÕÌi>ÌVÃÊ>`ÊÀLÌÃ°Ê >«ÌiÀÊxÊVÕ`iÃÊ>««V>ÌÃÊ>ÃÊ«ÀÛ`i`ÊÌÊÌiÊ>ÕÌÀÃÊLÞÊ«À `ÕViÀÃÊÀÊÌi}À>ÌÀÃÊÕÃÌÀ>Ì}ÊÌiÊÃÕÀ«ÀÃ}ÊÛ>ÀiÌÞÊvÊ>ÕÌ> ÌÊÃÕÌÃÊvÀÊÌiÊÃÌÊ`ÛiÀÃiÊ`ÕÃÌÀiðÊ/iÊ>««V>ÌÃÊ>ÀiÊ >Ê`V>ÌÀÊvÀÊÌiÊ«À>VÌV>LÌÞÊvÊ>ÕÌ>ÌÊÌiV}ÞÊ>`ÊÌÃÊ «ÀëiVÌÃÊvÀÊÌiÊvÕÌÕÀi°Ê /iÊ}À««iÀÊ>ÀÊ>`ÊÌÃÊV«iÌÃÊ qÊ>ÊÕÃÌÀ>Ìi`Ê}Õ`iÊÌÀÕ}ÊÌÃÊL° Σ [...]... PPG offered by SCHUNK in 1983 already had β = standard gripper at α very good ratios at the time The force/weight ratio, i e the gripping 2 m v ω in relation to the weight of the gripper multiplied by FC = force the stroke of the finger, was at 2. 4 J/kg for the short stroke The next=milestone was set by the PGN gripper which was built on the FN A m aNA same functional principle as the PPG This PGN was... importance in order to be able to flexibly react to Mechanical Engineering demands Consequently, the first gripper modules were developed as standard products as early as 20 years ago 38 ⋅ (ω - ω ) ω= 2 1 t a Z = 2 r at= αr By comparing three parallel jaw grippers at various stages of devel2 aR = aZ + a2 t opment, the efficiency increase can be illustrated (see figure 2. 3) The arctan az = arctan 2 PPG offered... role in international competition in terms of quality, velocity, and prices, are good Customers will naturally continue to appreciate delivery times and reliability as well as high-quality products Short time-to-market requires enterprises to have the necessary parts ready for assembly It is of secondary interest if these parts are manufactured in- house or purchased.” In manufacturing today, machine... gripping force • transfer of forces to the fingers or joints is difficult The first modular hands were the Stanford Hand and the Barret Hand Hand/arm integration: Modular Abilities: Internal manipulation Number of fingers: 3 Number of links: 10 Number of joints: 9 Degrees of freedom: 9 Palm: No Size compared to human hand: Equal Stanford/JPL Hand Sensors: • rotary transducers in each motor • strain gauge... result of customized vehicles leaving the conveyor belts today Although this idea would have been considered as futuristic in the 50s, it was realized by strategic use of efficient automation technology components 2. 2 Developmental Stages of Grippers At an early stage the idea of offering complete unit construction systems and feeding technology, robots, and grippers, for automation technology was of major... turnover 2 earnings time development expenses product planning development – market entrance growth maturity & saturation decline product service life Figure 2. 2 Model of a product life cycle The higher the development expenses for a product become, the more damaging a late market entrance becomes For this reason the automotive industry started early on making their manufacturing plants more flexible with the. .. a r energy/weight ratio of 7.3 J/kg The following generation of this successful gripper series significantly increased the energy/weight 2 ω= ratio to 8.1 J/kg while its service life was improved at the same t time E= 1 2 Jω 2 Fg s C= Nm kg G Fg = gripping force [N], s = stroke [m], G = weight [kg] λ - ω= 1 2 t Type: PPG 100 Weight: 1.6kg Energy/weight ratio: 2. 4 J/kg Gripping force at 6 bar at 6mm... manufacturing intensity of production as follows: “If products are in strong demand on the domestic market and capacities to meet this demand are not sufficient, they must be purchased on foreign markets All enterprises which have established competent cooperation partners or suppliers in the past few years, can cope with an increase in demand By concentrating on key competences, the prospects of playing a leading... The trend illustrates a daily scenario in the automotive industry: highly innovative and complex products cannot be produced at a high value added ratio In order to satisfy customer requirements for high-quality, constant improvement, and good price-performance ratio, it is essential to purchase structural components from specialized producers The VDMA survey comments on the declining manufacturing... types of artificial hands modular hands • are adaptable to any kinematics • include all components required for function (sensors, actuators, ) • are larger than human hands due to the size of current actuators • have a lower gripping force than integrated hands • require overall complex design integrated hands • hand is integrated into the robot arm • components, e g actuators, can be outsorced to the . 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The following chapters focus on the realization of handling technol- ogy tasks. Keynote is the process of integrating. 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. >`}Ê/iÀ}Þ /iÊvÜ}Ê`iwÌÃÊ>ÀiÊ}ÛiÊÌÊÌÀ`ÕViÊÌiÊÀi>`iÀÊÌÊÌiÊ ÌiVV>ÊÌiÀÃÊvÊ>`}Ê>`Ê>ÀiÊÕÃivÕÊvÀÊÕ`iÀÃÌ>`}ÊÊ ÌiÊvÜ}ÊV>«ÌiÀðÊ/iÊÀ`iÀÊvÊÌiÀÃÊ>««ÀÝ>ÌiÞÊvÜÃÊ ÌiÊ«À`ÕVÌÊ«ÀViÃð iÝLÌÞÊÊ 6iÀÃ>ÌÌÞÊ>`Ê>`>«ÌÊyiÝLÌÞÊ>ÀiÊÌÊLiÊ`ÃÌ}ÕÃi`°Ê6iÀÃ>ÌÌÞÊ ÃÊ`iwi`Ê>ÃÊ>Êi>ÃÕÀiiÌÊvÀÊÌiʵÕ>ÌÌÞÊvÊ`vviÀiÌÊÜÀÊ «ÀViÃÃiÃÊÜVÊV>ÊLiÊ>>}i`ÊLÞÊ>Ê«À`ÕVÌÊÃÞÃÌi°ÊÊ 6iÀÃ>ÌÌÞÊiÝ«ÀiÃÃiÃ]ÊÌiÀivÀi]ÊÌiÊ«ÀL>LÌÞÊvÊ>>}}Ê>ÞÊ «À`ÕVÌÊÌ>ÃÊÜÌÊ>Ê`iwi`ÊÀ>}iÊvÊÃÕVÊÌ>Ãðʫ>À}Ê ÌiÊÛiÀÃ>ÌÌÞÊvÊ`vviÀiÌÊ«À`ÕVÌÊÃÞÃÌiÃÊ>iÃÊÞÊÃiÃiÊÊ Ài>ÌÊÌÊÌiÊÃ>iÊÀ>}iÊvÊ«>ÀÌÃÊÌÊLiÊ«À`ÕVi`° `>«ÌÊyiÝLÌÞÊ`iwiÃÊ>Êi>ÃÕÀiiÌÊvÀÊ>Ê«iÀ`ÊvÊÌiÊ>`Ê ÌiÊVÃÌÃÊÜVÊ>VVÀÕiÊ`ÕÀ}ÊÌiÊÌÀ>ÃviÀÊvÀÊiÊÜÀÊ«ÀViÃÃÊ ÌÊÌiÊiÝÌÊÜÌÊ>Ê«À`ÕVÌÊÃÞÃÌi° «ÕÌÊÊÀi>ÌÊÌÊ>Ê}ÛiÊÕÌ«ÕÌÊÃÊ`iwi`Ê>ÃÊ«À`ÕVÌÛÌÞ°Ê Ý>«i Ó{ 7À«iVi /iÊÌiÀÊÃÊÌ>iÊvÀÊÌiÊwi`ÊvÊiV>V>Ê«ÀViÃÃ}°ÊÃÊ>ÊÀÕiÊ ÌiÊÜÀ«iViÊÕ`iÀ}iÃÊ>Ê«ÞÃV>Ê>«Õ>ÌÊ`ÕÀ}Ê«ÀViÃà }°Ê7iÊÛ}ÊÜÀ«iViÃÊÌiÊvVÕÃÊÃÊÌÊÊ«ÀViÃÃ}ÊÌÃivÊ LÕÌÊÊV>}}ÊÌiÊ«ÃÌÊ>`ÊÀiÌ>ÌÊvÊÌiÊÜÀ«iVi°Ê ÊÌÃÊVÌiÝÌÊÌiÊÜÀ«iViÊÃÊvÌiÊV>i`ÊÌiÊ>`}ÊLiVÌ]Ê ÃÞÞÃÊ>ÀiÊ>ÃÊÜÀÊLiVÌ]Ê«À`ÕVÌ]Ê«ÀViÃÃ}Ê«>ÀÌ]ÊÀÊV «iÌÊ«>ÀÌ°ÊÊÌiÊvÜ}]ÊÌiÊÌiÀÊÜÀ«iViÊÜÊLiÊÕÃi`Ê Ài}>À`iÃÃÊvÊÜiÌiÀÊÌiÊV«iÌÊ«>ÀÌÊÃÊ«ÀViÃÃi`]ÊÛi`ÊÀÊ ÀiÌi`° 7À«iViÊV«Õ` Ê`ÃÌVÌÊÕÃÌÊLiÊ>`iÊLiÌÜiiÊ>ÊÃ}iÊÜÀ«iVi]ÊÃÕVÊ>ÃÊ iÊÌ>ÌÊÃÊÜÌÕÌÊÌiÀÊÜÀ«iViÃÊi>ÀLÞ]Ê>`ÊLiÌÜiiÊ>ÊV «Õ`°Ê/iÊV«Õ`ÊÃÊ`iwi`ÊÜiÊÌiÊÜÀ«iViÃÊ>ÀiÊ>`i`Ê ÊiÊiÛiÊÀÊÜiÊÌiÞÊ>ÀiÊÃÌ>Vi`ÊÊÌ«ÊvÊi>VÊÌiÀ°Ê / /ÃÊ>ÀiÊÕÃi`ÊvÀÊ«ÀViÃÃ}ÊÜÀ«iViðÊÊ}iiÀ>Ê`ÃÌVÌÊ `ÕÀ}Ê>`}ÊÃÊ>`iÊLiÌÜiiÊ>`}ÊÌiÊÌÊ >`Ê>`}ÊÌiÊÜÀ«iVi°Ê 7À«iViÊiÝLiÊ`ÀÛiÊÃ>vÌ Ý>«iÃÊvÊÜÀ«iVià Óx handling VDI 28 60 conveying VDI 24 11 storing VDI 24 11 effecting materials flow Handling: The Underrated Process 1 Setup The term is used in connection with the availability of workpieces.
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Xem thêm: Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 2 ppsx, Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 2 ppsx
