晋恒-ST Robotics机械手 ST Robotics
英国机械手
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R12五轴机械手
R17五轴机械手
R13三轴机械手
夹手
 
The new electric gripper for the R12 robot arm. - fast, strong, compact and stylish. These grippers employ miniature precision integrated motor/lead screw combo drives with optional active feedback.

Fulcrum (scissors action) version E1 (shown left). Fully open the tips are 30mm apart. Closing force 10N.

Parallel versions (available end of Feb 2011) closing force 35N.
E2 open 10mm, closed 4mm, E3 open 13mm, closed 7mm (stroke 6mm).

Pneumatic grippers are also available as are vacuum pickups (see below).
Pneumatic gripper for R17 using SMC MHZ2-16D (approx 8mm stroke). Pneumatic gripper for R12 using SMC MHZ2-10D (approx 6mm stroke).

The customer can make fingers to match the product and fit these to the gripper jaws (see R19 example below).
An optional sensor may be fitted for grip confirmation. In other words it can be set to detect if the gripper closes with no product.

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.
Tool changers and 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. GRIP and UNGRIP functions in RoboForth control the speed of closure using pulse width modulation.
The advantage of an electric gripper is that no compressed air is required. The disadvantage is a longer gripping time 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: 500mS
There are two versions: low cost and precision. The precision version also has grip confirmation feedback.
Vacuum pickup is available for any robot. It comprises the end effector with 1, 2 or 3 cups as specified by the customer plus a pneumatics kit comprising valve, venturi and a confirmation sensor and tubing through the arm. The kit is supplied for you to re-house as required but connected, tested and ready to use.
Universal gripper works on the principal of particles jamming under vacuum. If you have a variety of awkward shaped objects to pick and place a conventional gripper might be impossible. This solution will pick up any object of any shape. Click picture for a video of R12 picking up a spanner (wrench), small tube, spoon and a vial.

We unable to sell this as a complete product so it is supplied as a kit for you to complete yourself. The kit comprises fully tested pneumatics, tubing through the arm and a wide vacuum cup, essentially the same as the standard vacuum kit (and priced the same) but with a bleed-back valve and without the sensor. We supply a pack of latex balloons, a tube of silicon rubber and a filter. You need to fill the ballon with ground coffee according to the instructions supplied and fit the balloon into the vacuum cup with the silicon.
R17 Tool Changers: In order to switch between gripper and vacuum pickup (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 stand as in the picture on the right. See tool changing video

  1. tool changer adaptor for robot
  2. tool changer, robot side
  3. tool changer, tool side
  4. adaptor between tool changer and specialized tool
  5. optional pneumatic gripper
  6. optional vacuum pickup
  7. stand (cradle) for unused tools
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