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 connectors, robot force-controlled 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 magnetic poles 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 chuck surface, magnetic attraction cannot be concentrated, and the magnetic force per unit area is relatively low; the direction of the magnetic force is perpendicular to the chuck surface and difficult to change, producing only one type of magnetic force on workpieces with the same contact area; the point of application of the 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 lower production efficiency.

hagen goebel workpiece 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 classified into translational and rotational types. According to the mechanical clamping method, they can be classified into external clamping and internal expansion types. According to the mechanical structural characteristics, they can be classified into 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.

hagen goebel workpiece fixture classification

Mechanical gripping end-effectors used in loading and unloading industrial robots are mostly two-finger grippers. 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 creates negative pressure 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 high, making them mostly suitable 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 force is lost, releasing the workpiece. The suction force of vacuum pump suction cups mainly depends on the adsorption area of the suction cup and the vacuum level inside the q cavity (referring to the rarefaction of air inside). This type of suction cup is reliable and provides high suction force, 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 mounted 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 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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