German pebaro workpiece fixtures, pebaro models, pebaro prices

pebaro 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 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, accessories, tools, or arm-end tools (EOA) of the robot. Main 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.

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 and firmly grasp the object 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 it 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 repeatability 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. Classified by finger motion, they can be divided into translational and rotary 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 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 repeatability of the workpiece clamping posture remains within the specified tolerance zone.

pebaro workpiece 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 expansion 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 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 plates, 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 forming 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 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 cup to the atmosphere, the suction force is lost, releasing the workpiece. The suction force of vacuum pump suction cups mainly depends on the suction area size and the vacuum degree inside the q cavity (referring to the thinness of the air). This type is reliable with large suction force but requires a vacuum pump and airflow control system, resulting in higher costs. 2) Mechanical clamping type: The structure of a straight-rod dual-cylinder translational gripper refers to fingers mounted on a straight rod with finger mounting seats. When pressurized gas enters the rod-side chambers of the two single-acting dual cylinders, the two pistons move inward, clamping the workpiece; when no pressurized gas enters, springs push the two pistons outward, releasing the workpiece. A flow divider valve is installed on the cylinder intake line to ensure synchronous piston movement. This type of end effector is used in loading and unloading assembly workstations.

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