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Method For Operating A Gripping Device

A technology of clamping equipment and clamping arms, which is applied in the direction of program control manipulator, program control, instruments, etc.

Inactive Publication Date: 2012-04-11
WALTER MASCHINENBAU GMBH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this approach necessitates a considerable amount of programming

Method used

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  • Method For Operating A Gripping Device
  • Method For Operating A Gripping Device
  • Method For Operating A Gripping Device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0029] figure 1 and figure 2 An exemplary embodiment comprising a clamping device 10 with a clamping arm 11 is shown. The clamping arm 11 comprises several members 12 which can be connected rotationally or pivotally to each other. At the mounting end 13f the clamping arm 11 is secured in position on the mounting surface 19 . At its free end 14 opposite the mounting end 13 , the clamping arm 11 supports a clamp 15 . The gripper 15 comprises at least one and, in the present example, two clamping jaws 16 which can be actuated independently of each other. Each set of clamping tongs 16 comprises two tong legs 17 which can be shifted relative to each other and between which a blank 18 or a machined workpiece can be gripped and held. In the exemplary embodiment, specifically, the cylindrical portion is held by the clamping jaws 16 . Thus, one of the pliers legs 17 may have a prismatic recess to ensure a fixed retention and positioning of the cylindrical blank 18 or workpiece. ...

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PUM

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Abstract

The method involves determining torque variables required for moving a gripper (15) around an axis (27e) of one of adjusting drives. The gripper is moved in a preset measuring position, and position values are measured in a coordination system of a grip arm (11). Deviation values are determined between the position values and actual position values. A linear deviation function that describes change of a position of the gripper depending on load capacity is determined between the torque variables and the deviation values. An independent claim is also included for a method for accommodating and / or storing a work piece or a pallet blank in an operating position.

Description

technical field [0001] The invention relates to a method of operating a gripping device. The gripping device comprises a gripping arm or a handling robot which has several components which can be connected together in a mutual rotational or pivotal manner. Between every two adjacent components, an adjustment drive is arranged, which has a rotation axis or pivot axis, to rotate or pivot the two components connected relative to each other via the adjustment drive. The number of regulating drives can vary. For example, five or six adjustment drives can be provided. Background technique [0002] Holding devices can be used for different tasks. For example, it can be arranged to remove blanks from the pallet and place these blanks into the chuck device of the machine tool, and conversely, remove machined workpieces from the chuck device and place these workpieces on the pallet (palette )superior. To achieve this, the gripping device comprises a gripper with at least one, for...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/1638G05B2219/41213
Inventor C.马克斯
Owner WALTER MASCHINENBAU GMBH