A typical pneumatic gripper for R17 using SMC chuck. The customer can make fingers to suit the product and attach to the gripper jaws. It is fitted with a sensor which detects over-closure. In other words it can be set to detect if the gripper closes without the product. Code in the controller then takes the robot back to a safe place before raising an alarm.
Wiring and pneumatic tubes are run through the arm by ST with connectors on the forearm.
Pneumatics are supplied as a kit, with the gripper and internal tubing fully fitted to the robot but with electrical and pneumatic connections made in a temporary but working fashion. The customer can then rehouse the valve and extend the connections as required.
The picture also shows an Applied Robotics 'Quick-stop' collision sensor.
Both devices require a standard compressed air source. ST can supply a small quiet compressor, P.O.A. Vacuum pickups are also available (see below).
An electric gripper suitable for R17. This is driven by DC motor using a small constant current driver built into the robot controller. The advantage of course is that no compressed air is required. The disadvantage is the gripping time required and also the weight of the gripper which reduces the robot payload by 500g. It is, however, excellent value for money. The customer can make fingers to suit the product and attach to the gripper jaws.
Stroke: 12.5mm (1/2 inch) (6.25mm per finger)
Gripping force: 20N
Closing speed: 400mS
This electric gripper is available as a product in its own right, complete with a potted drive module requiring 12v DC and two signals (open, close, free)
A simple pneumatic gripper for R19 using SMC chuck. The fingers are specials to suit the customer's product.
An electric gripper suitable for R19, solenoid powered, primarily designed for the handling of micro-titer plates.
Stroke: 5mm per finger
Gripping force: 5N
Tool Changers: In order to switch between gripper and vacuum pickup (as shown on left), or between other types of tools, the tool is mounted on an adaptor which is held by a tool changer on the robot. Unused tools are parked on a rack as in the picture on the right. A video of tool changing is available on our downloads page - choose toolchange.avi (15Mb) or toolchangeXvid.avi in DivX format (2Mb).
(DivX codec available here http://www.xvidmovies.com/codec/)
Or watch it on Youtube