holzapfel grippers Germany holzapfel models holzapfel prices

holzapfel grippers 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.

holzapfel gripper structure

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

holzapfel gripper structure

Mechanical gripper end-effectors used in loading and unloading industrial robots are mostly two-finger claw types. According to finger motion, they can be classified as translational and rotational types. According to the mechanical clamping method, they can be classified as external clamping and internal expansion types. According to mechanical structural characteristics, they can be classified as electric (electromagnetic), hydraulic, and pneumatic types, as well as their combinations. When the end-effector clamps a workpiece, there should be certain force constraints and shape constraints to ensure that the clamped workpiece is fully 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 specified tolerance zone.

holzapfel gripper 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 expanding 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 sheets, 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 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. 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 connect the vacuum pump to the suction cup via an electromagnetic control valve. When the control valve evacuates air, the air in the suction cup cavity is removed, creating negative pressure 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 degree of vacuum in the inner wall of the suction cup (referring to the thinness of the air in the inner q cavity). This type of suction cup is reliable and has strong 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-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. To ensure synchronous movement of the two pistons, a flow divider valve is installed in the cylinder intake line. This type of end-effector is used in loading and unloading assembly stations.

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