German pebaro workpiece fixtures pebaro model pebaro price

pebaro workpiece 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 pressure 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). Main 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.

pebaro workpiece fixture working principle

The most widely used grippers are pneumatic grippers; they are essentially cylinders powered by compressed air. When air is supplied, the gripper jaws approach the object and firmly grasp it to perform other operations, and when the air direction is reversed, the gripper releases the object. Typical applications include changing the orientation of an object or moving an object during pick-and-place operations. When the gripper holds a workpiece, there must be certain force constraints and form constraints to ensure that the clamped workpiece is fully released during movement, dwelling, and loading. In addition, it must ensure that the geometric deviation in the reproduction of the workpiece clamping posture remains within the specified tolerance zone.

pebaro workpiece fixture structure

Mechanical gripping end-effectors used in loading and unloading industrial robots are mostly two-finger claw types. If classified by finger motion, they can be divided into translational and rotary types. If classified by mechanical gripping method, they can be divided into external clamping and internal expanding types. If classified by mechanical structural characteristics, they can be divided into electric (electromagnetic), hydraulic, and pneumatic types, as well as their combinations. When the end-effector holds a workpiece, there must be certain force constraints and form constraints to ensure that the clamped workpiece is fully released during movement, dwelling, and loading. In addition, it must ensure that the geometric deviation in the reproduction of the workpiece clamping posture remains within the specified tolerance zone.

pebaro workpiece fixture classification

Mechanical gripping end-effectors used in loading and unloading industrial robots are mostly two-finger claw types. If classified by finger motion, they can be divided into translational and rotary types. If classified by mechanical gripping method, they can be divided into external clamping and internal expanding types. If 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 the negative pressure inside the suction cup to hold and move the workpiece. The suction cup uses the 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 designed with a single suction cup, double suction cups, multiple suction cups, or specially shaped suction cups. There are several methods for generating negative pressure: squeeze-type suction cups, airflow negative pressure suction cups, and vacuum pump exhaust suction cups. Squeeze-type suction cups: Squeeze exhaust suction cups rely on downward squeezing force to expel all air from the suction cup, creating a negative pressure state inside, which then holds the workpiece. They have advantages such as 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 inner cavity of the suction cup, thereby creating negative pressure inside the cavity, after which the suction cup holds the object. If compressed air is available at the job site, using this type of suction cup is convenient and low-cost. Vacuum pump exhaust suction cups: Vacuum pump exhaust suction cups use an electromagnetic control valve to connect the vacuum pump to the suction cup. When the control valve evacuates air, the air in the suction cup cavity is removed, forming negative pressure inside the cavity to hold the object. Conversely, when the control valve connects the suction cup to the atmosphere, the suction cup loses its suction force and releases the workpiece. The suction force of vacuum pump suction cups mainly depends on the size of the suction area and the degree of vacuum in the suction cup inner wall (referring to the thinness of the air in the inner q cavity). This type of suction cup is reliable and provides greater suction force, but it requires a vacuum pump and an airflow control system, resulting in higher costs. 2) Mechanical gripping type: The structure of a straight-rod dual-cylinder translational gripper refers to gripper fingers mounted on a straight rod equipped with finger mounting seats. When pressurized gas enters the two rod-side chambers of the 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. To ensure synchronous movement of the two pistons, a flow divider valve is installed in the cylinder's intake line. This type of end-effector is used in loading and unloading assembly workstations.

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