German aichele workholding fixtures aichele model aichele price

aichele workholding fixtures are any tools with specific functions connected to the robot edge (joint). This may include robot grippers, robot tool changers, robot collision sensors, robot rotary connectors, robot force tools, compliance devices, robot spray guns, robot deburring tools, robot arc welding torches, robot electric welding torches, etc. Robot end-effectors are generally considered peripheral equipment of the robot, robot accessories, robot tools, and arm-end tools (EOA). Key elements: mechanism type, gripping method, gripping force, drive unit and control object characteristics, mass, shape, center of gravity position, size, dimensional tolerance, surface condition, material, strength, operating parameters, operating space environment, operating accuracy, operating speed and acceleration, clamping time.

aichele workholding fixture requirements

Whether clamping or suction-type, the robot end-effector must also meet the repeatability required for the operation. The structure of the robot end-effector should be as simple and compact as possible, and lightweight, to reduce the load on the arm. Dedicated rather than general-purpose robot end-effectors have a simpler structure but high work efficiency, and can perform various operations. In contrast, "universal" end-effectors may have disadvantages such as complex structure and high cost. Therefore, it is recommended to design and use serialized and standardized dedicated robot end-effectors that can be quickly changed. If the object has two opposing planes, a double-jaw parallel gripper can be used to solve dimensional deviation problems. For cylindrical objects, double-jaw grippers can also be used for clamping. It should be noted that containment or enveloping clamping requires less force.

aichele workholding fixture structure

The mechanical gripper-type end effectors used in loading and unloading industrial robots are mostly two-finger claw types. According to the motion of the fingers, they can be divided into translational and rotational types. According to the mechanical clamping method, they can be divided into external clamping and internal expansion types. According to the mechanical structural characteristics, they can be classified as electric (electromagnetic), hydraulic, and pneumatic types, as well as their combinations. When the end effector clamps the workpiece, there should be certain force constraints and shape constraints to ensure that the clamped workpiece is completely released during movement, dwelling, and loading processes. In addition, it should ensure that the geometric deviation of the workpiece clamping posture reproduction is within the given tolerance zone.

aichele workholding fixture classification

Mechanical clamping end-effectors used in loading and unloading industrial robots are mostly two-finger claw types. Classified by finger motion, they can be divided into translational and rotational types. Classified by mechanical clamping method, they can be divided into external clamping and internal expanding types. Classified by mechanical structural characteristics, they can be divided into electric (electromagnetic), hydraulic, and pneumatic types, as well as their combinations. 1) Pneumatic suction type: Pneumatic suction robot end-effectors use the suction force generated by negative pressure inside the suction cup to hold and move the workpiece. The suction cup uses negative pressure formed in a bellows made of soft rubber or plastic to hold the workpiece. This type of robot end-effector is suitable for handling large, thin, low-rigidity metal or wooden sheets, paper, glass, and curved shells. Depending on the application, the end-effector can be made with single, double, multiple, or specially shaped suction cups. Methods for generating negative pressure include: squeeze-type suction cups, airflow negative pressure suction cups, and vacuum pump exhaust suction cups. Squeeze-type suction cups: Squeeze-exhaust suction cups expel all air from the cup by downward squeezing force, creating a negative pressure state inside to hold the workpiece. Advantages include simple structure, light weight, and low cost. However, the suction force is not large, so they are mostly used for small-sized, thin, and light workpieces. Airflow negative pressure suction cups: An airflow control valve injects compressed air from an air pump through a nozzle, forming a high-speed jet that removes air from the suction cup cavity, creating negative pressure to hold the object. This type is convenient and low-cost if compressed air is available at the job site. Vacuum pump exhaust suction cups: Vacuum pump exhaust suction cups connect the vacuum pump to the suction cup via an electromagnetic control valve. When the control valve evacuates air, negative pressure forms in the cup cavity to hold the object. Conversely, when the control valve connects the suction cup to the atmosphere, the suction cup loses suction and releases the workpiece. The suction force of vacuum pump suction cups mainly depends on the suction area and the vacuum degree inside the q cavity (referring to the rarefaction of air inside). This type of suction cup is reliable and has strong suction, but requires a vacuum pump and airflow control system, resulting in higher costs. 2) Mechanical clamping type: The structure of a straight-bar dual-cylinder translational gripper refers to the gripper fingers installed on a straight bar with finger mounting seats. When pressurized gas enters the rod-side chambers of the two single-acting dual cylinders, the two pistons move inward to clamp the workpiece; when no pressurized gas enters, springs push the two pistons outward to release the workpiece. To ensure synchronous movement of the two pistons, a flow divider valve is installed in the cylinder intake line. This type of end-effector is used in loading and unloading assembly workstations.

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