Catch circumgyrate of pneumatic of ungual frame, optimization through using CFK composite material actuating device and change quickly coupler, those who come true to catch ungual stability and processing capability to the robot rise. Ungual system respect is paid in product line, people asks a few scarcely possibility affection: It should raise rate of pull current Cheng, allow to be mixed in extremely narrow space work below harsh environment, have the flexibility like operating personnel at the same time. Accordingly, on the design of the operating system, pursuit is paying the optimal balance between ungual, drive and frame structure. To catching claw is mixed for the component that catch claw, latter cannot too too weak, small. On the other hand, frame also cannot overweight, otherwise whole robot catchs ungual system to be able to become too slow, easy wear away, production cost also can rise. The structure that the solution that challenges in the light of this kind is a machine as far as possible light, can bear again load and speed, also can maintain high quality to produce wants stability. In the meantime, in other part (pursue for example the 2 circumgyrate actuating device that go up and component of the join that catch claw) go up to still also existing tremendous optimizing latent capacity, these can conduce to raise manufacturing efficiency and operation rate. The aggrandizement of new-style carbon fiber that the robot catchs claw is the company of crucial link Krautloher Industrieautomation on product line is plastic (abbreviation CFK) the system catching claw of frame (graph 1) in light-duty structure and drive technology on two respects, erected new surveyor's pole, make the robot catchs ungual system to become make a living produce on-line a decisive link. CFK is a kind of composite material, among them multilayer carbon fiber is plastic to such as polyethylene and polyester the effect that has to strengthen. Through using this kind of data, the weight of the component that catch claw should compare aluminous profile system one times lighter, and working stability raises one times however. Its reason depends on its special tigidity above all. The oscillatory phenomenon of the system that catch claw is apparent slow down, because of the production of this automation product line rhythm rises significantly, fault rate drops apparently. Graph 1 contain carbon fiber aggrandizement the system catching claw of plastic frame, the strength that its weight uses data of collateral fibrous CFK for the half of weight of aluminous profile frame only and tigidity want tower above of more transverse than using fiber a lot of, accordingly, each fiber layers need laid and overlay to be the direction that differs individually forward. To achieve first-rate tigidity and intensity, before making the frame that catch claw, need from the data such as particular applied strength is obtained over there the user, and be on the computer according to finite yuan of method (FEM) to catching claw frame undertakes imitate. All component must match with light-duty structure photograph as above, the weight that reduces frame merely is insufficient, the other and all component of automation operating system also must match with light-duty structure photograph. Especially generous of those be used to use an occasion. Here, groovy pneumatic circumgyrate actuating device can appear when reaching last place bigger vibration (bump extreme position) . This kind of vibration is qualitative to steel for the fixed equipment of base, won't have big problem. And for the system catching claw to light-duty structure, must take preventive step. Can have necessary apply the brake to groovy circumgyrate actuating device of course, but the loss that this meeting causes apparent cycle time for working. Application catchs ungual actuating device to compress air motor and reducer to form by at afore-mentioned carbon fiber. Can realize smooth, accurate and fast whirligig from this. Intermediate position also but be able to come true. Reducer is OK and great the inertia that reduces a part, the concussion phenomenon when because this is afore-mentioned,reaching extreme place can fall almost for 0. Graph the weight that structure of 2 carbon element catchs the circumgyrate actuating device that uses on claw also compares style of lever of Ritzel congener piston the good point that actuating device eased program of this kinds of about 20% technologies depends on people can acquiring light-duty construction system already, still can use again at the same time compress air medium. Compress air consist in on all robot systems, get very easily also controlling. Of course, wu of afore-mentioned ability change to another post also can try to solve through using servo electric machinery. But, servo electric machinery not only cost is high, and weight is great, not quite agree with light-duty carbolic element structure catchs ungual system. Another advantage depends on passing a powerful person of direction of a 5/3 to be opposite those who compress air motor is convenient on control. This kind of valve often is seen on robot and manufacturing facilities, get very easily when need. How to set on reducer adjustable spacing switch, will dominate 5/3 direction a powerful person or family with this. Install on reducer surveying a plant also is adjustable likewise. Accordingly (theoretic) OK and accurate reach any place. The weight that carbolic element structure catchs the circumgyrate actuating device that uses on ungual system also compares style of Ritzel piston lever actuating device was reduced about 20% . Use change quickly whole robot stresses the flexibility that type coupler can increase a robot to seize ungual equipment ungual system changes quickly through using Krautloher type coupler, increased its job flexibility again. When be being used every time from this, catch claw to all can be on equipment accurate perch is made with every workpiece very good cooperate. In the industry that catchs ungual system to be in all sorts of differring all attainable apply neatly. The CFK of Krautloher company catchs ungual system to be able to ensure higher pull current volume and inferior the sources of energy are used up. Because the stability of equipment increased, because this works,rise more safe. Through using the system that catch claw, the manufacturing efficiency of product line rises apparently, the investment to new technology also can get very quickly reclaiming. CFK material tigidity is 3 times a kind when the unit tigidity of material reflects a data taller than aluminous simple stuff fight stretch metabolic resistance, it but from modulus of elasticity and density (Phi=E/rho) the scale relation computation between reachs. The modulus of elasticity of aluminous qualitative light metal is 70kN/mm2, density is 2. 8g/cm3. The composite material of carbon fiber aggrandizement (CFK material) can achieve 140kN/mm2 modulus and 1.
The density of 6g/cm3. Accordingly, the unit tigidity tower above that the unit tigidity of CFK material wants to compare aluminous qualitative light metal 3 times. CNC Milling
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