Grippers in Motion - the Fascination of Automated Handling Tasks - Wolf Part 10 doc

AGE compensation unit Figure 4.8 Principle of function: Compensation unit removing a bolt from its faulty position 182... Figure 4.9 FTC principle of function FT sensor in operation F

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position errors along the x- and y-axes up to ±4mm depending on the size of the component Faulty angle positioning can be com-pensated up to 16° The compensation unit can be pneumatically locked to keep it stable during robot movement errors It is possible

to lock the center position or any other position Faulty positions caused by robot teaching, for example, can be compensated and

“saved” This reduces the force which acts on the robot and gripper during pick operations

Magnetic sensors can be fitted to tongues to make sure that the compensation unit has been locked

If the compensation unit is directly fitted to a robot flange it is easier to integrate the component ISO 9409 specifies drilling for flanging components which makes the flange adapter plate redun-dant This reduces weight and cost

AGE compensation unit

Figure 4.8 Principle of function: Compensation unit removing a bolt from its faulty position

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This sensor can measure forces up to 300N and torques up to 15Nm taking into consideration the directions of force and torque Workpiece displacements which the sensor tolerates are maximum

±1.4mm for the directions x, y, z, and maximum ±1.4° for the rotary directions α,b, γ

The data measured by the sensor can be exported by CAN, DeviceNET as well as by RS232 or RS485 The data are updated per millisecond in each case

The sensor comes with a PC compatible test software for check-ing all functions and puttcheck-ing it into operation All sensor functions can be triggered by a simple parameter input No extra drivers are required and the test software is compatible with any software

Another type of FT (Force Torque) sensor is based on a tactile suring procedure As illustrated, the forces and torques are mea-sured with so-called DMS The tool is 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 function

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FTC sensor, sectional view

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Figure 4.12 Kinetic device options (VDI 2860)

4.2 Realization of Kinetic Processes

Workpiece movement is expressed by Newton`s kinetic equation

A movement in space is basically defined by its velocity,

accel-eration, and direction In automation technology, movements are

realized in different ways All basic options are listed in a structured

overview in the VDI Guideline 2860:

Generally speaking, a kinetic device with a set main function is a

low-cost option for changing workpiece position or orientation, such

as pneumatic cylinders and mini slides for workpiece positioning

Kinetic devices with variable main function include both manually

controlled and program-controlled kinetic automats

Kinetic path with acceleration and deceleration in different colors

Kinetic device

Kinetic device with set

main function Kinetic device with variablemain function

Manually controlled

kinetic automats Program-controlledkinetic automats

Programmed kinetic

automats Freely programmablekinetic automats

(axes/industrial robots)

Industrial robots without

active program control

Industrial robots with active program adaption Industrial robots with

active program selection

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Simple Rotation

First we take a look at kinetic devices with a set main function,

i e components performing the most simple translatory or rotary

movement in order to reach an end position

The so-called rotary or swivel units with their rotary movements

are used

1 as components for multiple grippers to reduce cycle time and

2 as a kinetic device for workpiece orientation

Cycle time reduction is achieved by attaching several grippers to the

swivel unit These swivel head grippers or revolver grippers take a

finished workpiece out of a processing maching and swivel another

gripper with an unprocessed workpiece 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 device By

using the swivel unit for pick operations, the handling device is able

to avoid movements that would pick up an unprocessed workpiece

Swivel unit

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Figure 4.9 FTC principle of function...

reduced to a minimum as the swivel movement can be performed

without any or with minimum effort by the handling device By

using the swivel unit for pick operations, the handling device... workpiece out of a processing maching and swivel another

gripper with an unprocessed workpiece into the pick position

Auxiliary process time for feeding the processing machine is

reduced