German hagen goebel workpiece fixtures, hagen goebel models, hagen goebel prices

hagen goebel workpiece fixtures are tools with specific functions connected to the edge (joint) of a robot. This may include robot grippers, robot tool changers, robot collision sensors, robot rotary unions, 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, accessories, tools, or arm-end tools (EOA) for robots. Key elements: mechanism type, gripping method, gripping force, drive unit and control object characteristics, mass, shape, center of gravity position, dimensions, dimensional tolerances, surface condition, material, strength; operating parameters: operating space environment, operating accuracy, operating speed and acceleration, clamping time.

hagen goebel workpiece fixture structure

The cross-sectional shape and distribution of the pole cores vary depending on the workpiece. Common structures for electromagnetic chucks include rectangular and circular types; rectangular magnetic poles are arranged either longitudinally or transversely. Longitudinal arrangement of rectangular magnetic poles is suitable for securing larger workpieces; transverse arrangement is suitable for securing smaller workpieces. Circular chucks are suitable for securing ring-shaped workpieces or workpieces with complex shapes. The main characteristics of standard electromagnetic chucks are: magnetic flux lines are evenly distributed across the disk surface, magnetic attraction cannot be concentrated, and the magnetic force per unit area is relatively low; the direction of magnetic force is perpendicular to the chuck surface and difficult to change, producing only one type of magnetic force for a given contact area; the point of application of magnetic force is limited to the contact surface between the workpiece and the chuck and cannot be arbitrarily changed. Therefore, disadvantages during machining include low positioning accuracy, insufficient clamping force, narrow scope of application, and low production efficiency.

hagen goebel workpiece fixture structure

Mechanical gripping 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 gripping 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 combinations thereof. When the end-effector clamps a workpiece, it must provide certain force and shape constraints to ensure the clamped workpiece remains secure during movement, dwelling, and loading processes, and must release completely when required. Additionally, it must ensure that the geometric deviation of the workpiece clamping posture remains within the specified tolerance zone.

hagen goebel workpiece fixture classification

Mechanical gripping 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 gripping 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 combinations thereof. 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 workpieces. 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 configured 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 workpieces that are not too large in size, thin, and light. 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 inside the cup 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 degree of vacuum inside the q cavity (referring to the rarefaction of air inside). This type of suction cup is reliable and provides greater suction force, but requires a vacuum pump and airflow control system, resulting in higher costs. 2) Mechanical clamping type: Structure of a straight-bar dual-cylinder translational gripper. The gripper fingers are mounted on a straight bar equipped with finger mounting seats. When pressurized gas enters the rod-side chambers of the two single-acting dual cylinders, the two pistons move toward the center, clamping the workpiece; when no pressurized gas enters, springs push the two pistons outward, releasing the workpiece. A flow divider valve is installed in the cylinder intake line to ensure synchronous movement of the two pistons. This type of end-effector is used in loading and unloading assembly workstations.

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