TPGC100078 gripper Germany goudsmit model TPGC100078 in stock

TPGC100078 gripper is any tool with a specific function 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 device 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.

TPGC100078 gripper requirements

Whether clamping or suction type, the robot end-effector must also have 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 complete 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 replaced. If the object has two opposing planes, a double-jaw parallel gripper can be used to solve dimensional deviation problems. For cylindrical objects, a double-jaw gripper can also be used for clamping. It should be noted that retention or enveloping clamping requires less force.

TPGC100078 gripper 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 rotary 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.

TPGC100078 gripper classification

The 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 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 plates, paper, glass, and curved shells. Depending on the application, the end-effector can be made with a single suction cup, double suction cups, multiple suction cups, or specially shaped suction cups. There are several ways to form 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 to hold the workpiece. They have advantages such as simple structure, light weight, and low cost. However, the suction force is not large, and 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 inside, allowing the suction cup to hold 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, creating negative pressure inside to hold the object. Conversely, when the control valve connects the suction cup to the atmosphere, the suction cup loses 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 vacuum degree inside the suction cup wall (referring to the thinness of the air in the inner q cavity). This type of suction cup works reliably and has greater 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 installed on a straight bar with finger mounting seats. When pressurized gas enters the rod chambers of the single-acting dual cylinders, the two pistons move towards 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 on the cylinder intake line. This type of end-effector is used in loading and unloading assembly workstations.

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