Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 4 pot

It is interesting that applications for industrial robots with three or more axes account for a high proportion of robots handling work-pieces.. As this increase was initiated by applica

2003 2002

Automotive Machines (incl electric) Synthetics/Rubber/Chemistry Food/Food processing Iron/Steel products Iron/Steel Non-prod Industries Wood/Furniture/Paper Ceramics/Glass/Stone Measuring/Lab/Control technology

Other

pieces

0 1.000 2.000 3.000 4.000 5.000 6.000 7.000 8.000 9.000 10.000

9.884 7.402

1.044 1.003 876 752 337 345 254 249 243 208 177 187 163 174 138 131 79 141 1.186 1.270

Figure 2.10 Industrial robot applications according to industries 2002 and 2003 (source: VDMA)

2

If you consider the fact that each robot usually needs additional peripheral devices such as feeding technology, magazines, grippers, sensors, and safety technology, the enormous market volume becomes obvious The market volume can be specifically determined by the number of robot applications

It is interesting that applications for industrial robots with three or more axes account for a high proportion of robots handling work-pieces The great rise from 2002 to 2003 with more than 30 per-cent in this category is remarkable As this increase was initiated by applications in the automotive industry it can be assumed that

an enormous rationalizing potential has been successfully opened

up by the automotive industry Gripper technology, which is nor-mally used for handling applications, has especially profited from this growth Other applications came to a standstill as soon as they had reached a certain level

62

Figure 2.11 One- and two-axis moving modules – applications 2002 and 2003 (source: VDMA)

2003 2002

Handling Welding Palletizing Coating/Sticking

Assembly Other Processing Research/Education

pieces

6.969 5.272

2.962 2.977 884

823 770 900 725 787 518 533 256 199 149 130

7.000 6.000

5.000

The German Federation of the Engineering Industries VDMA gives

the following outlook in its yearly published statistics for the year

2004:

“In 2004 a further increase in robot piece numbers is expected for

the German market as well The automotive industry will remain

the largest customer with substantial investments in 2004

Rubber and synthetics producers, the chemical industry, machine

(incl electric) producers, and the metal manufacturing industry will

have to increase their investments accordingly The potential for

using robots in the food processing and the packaging industry is

obvious as the demand for automated solutions is high

The furniture industry is another potential customer as it it forced to

reduce costs of production, too Higher payloads, higher dynamics,

sensor technology, network technology (of communicating robots),

and image processing systems, offer increased application options

for so-called “intelligent robots” or “multi-robots” Robot

technology faces another quantum leap In high-wage countries,

the unit labor costs can be effectively reduced by automated

solutions Technical concerns of some industries, such as food

processing, are answered by user-friendly systems The food

processing industry in Germany still offers great potential for the

use of robots and automated systems.”

63

industrial robot

terminal

robot control

offline programming

computer

robot kinematics

multi-sensor system Figure 2.13 Offline programming in the early 80s

First CAD-based planning tools

3D-planning environment for robot simulation (source: plusdrei GmbH)

2

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Robot fuel filling station, different car geometries have to be detected (source: Reis)

2

A possible trend in robot and automation component technology can be seen in the pictures of service robots venturing from factory halls into “unstructured” environments During refueling,

for example, a robot has to deal with a technical object, i e the car, but situations and fabricates vary Robot fueling technology is being tested worldwide for filling up liquid hydrogen

A system installed at the Munich airport is already under trial opera-tion Service robots are expected to grow in numbers, exceeding those of industrial robots Nevertheless, the requirements are by far more diverse so that clear definitions cannot be found as easily

as for industrial robots

Due to the fact that robots move towards new applications the robot industry hopes to increase significantly the numbers of robots which are produced today 80% of the robots today are used in automotive production The next 10 years we will face a big shift

to other industries The robot manufacturers cop the new bound-ary conditions with specialized robots which are able to work for example in wet environments Components of the automa-tion industry like for example grippers are also highly improved in hygienic design

66

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đả

zm zmw

xm xmw

ym ymw

In the early 80s the VDI regulation 2860 gave a rather plain

descrip-tion of gripper funcdescrip-tion:

“A gripper is the subsystem of an industrial robot which maintains a

limited number of geometrically defined workpieces for a set period

of time, i e secures the position and 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, and finally reversed by

releasing the workpiece.”

From the current point of view this definition needs to be extended

as modern gripper design and sensors offer new opportunities and

we will concentrate on this reality in the following chapters

The object of gripping, the product, the workpiece, or component,

is put at the center of our initial analysis The term “workpiece” will

be used, even when there is no work being performed on the piece

while it is being gripped The workpiece can be a finished product

or a product that is still being processed

Subsequently, technical tasks of mechanical grippers for pick- and

place operations and related aspects are presented and explained

in detail

Figure 3.1 Workpiece/gripper system

of coordinates, Xm – Ym – Zm

71

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