robot gripper design

ISRN UTH-INGUTB-EX-M2010/24-SE

Examensarbete 15 hpNovember 2010

Design of a gripper tool for robotic picking and placing

Karokh Mohammed

Teknisk- naturvetenskaplig fakultet UTH-enheten Besöksadress: Ångströmlaboratoriet Lägerhyddsvägen 1 Hus 4, Plan 0 Postadress: Box 536 751 21 Uppsala Telefon: 018 – 471 30 03 Telefax: 018 – 471 30 00 Hemsida: http://www.teknat.uu.se/student

Abstract

Design of a gripper tool for robotic picking and placing

Karokh Mohammed

Industrial robots are very popular in now day’s automation factories, industrial robotscan perform jobs that people are not willing or able to perform. Industrial robots canrepeat the same work at the exactly same way, resulting a higher quality ofproduction. Industrial robots can work in several areas, each robot must have aspecific tool for each area.

This thesis includes design of a gripper tool for an industrial robot for picking andplacing different laser notched generator-parts. The product is being designed for thedivision of electricity in Uppsala University. A gripper tool prototype might be built inthe future.

The report begins with a theoretical comparison between lifting and grippingtechniques for later deciding which technique is most suitable for picking and placingthe different parts. A pre-study and a short description about different transportingsystems have been made.After the pre-study different concepts were developed, the best suitable concept wasselected for further development and final construction. The final design of thegripper tool was used in the robot cell-simulation program ABB Robot Studio forchoosing a proper cell design.

The gripper tool was designed in light weight material aluminium, and useselectromagnets for picking and releasing the different notched part. The gripper toolis assembled on an industrial robot from ABB, IRB 7600 with a handling capacity of150 kg and 3.5m reach.

ISRN UTH-INGUTB-EX-M2010/24-SEExaminator: Lars DegermanÄmnesgranskare: Mats LeijonHandledare: Erik Hultman

I

Sammanfattning

I dagens automatiserade fabriker är industrirobotar väldigt populära, då industrirobotar kan

utföra arbeten som människor inte vill eller kan utföra. Industrirobotar kan utföra samma

arbete flera gånger om på exakt samma sätt, vilket medför en högre kvalitet på produktionen.

Industrirobotar kan arbeta inom flera olika områden, för varje område måste industrirobotarna

vara utrustade med ett speciellt verktyg.

I detta examensarbete designas ett gripdon för en industrirobot som skall plocka och placera

olika laserskurna generatordetaljer. Produkten designas för Avdelningen för Elektricitetslära

vid Uppsala Universitet. En prototyp av gripdonet kan bli aktuellt i framtiden.

Arbetet inleddes med en teoretisk jämförelse mellan olika grepp- och lyfttekniker för att sedan

avgöra vilken grepp- respektive lyftteknik passar bäst för plockning och placering av de olika

detaljerna. Förstudie och en kort beskrivning av olika transportmetoder ingår.

Efter förstudien togs olika möjliga koncept fram för att sedan välja ut det bäst passande

konceptet för ytterligare utveckling och en slutlig konstruktion. Den slutliga designen

användes seden i robotcellsimuleringsprogrammet ABB Robot Studio för utförandet av

experimenten.

Gripdonet designades i aluminium och använder elektromagneter som lyftteknik för

plockning och placering av de olika skurna plåtdetaljerna. Gripdonet monteras sedan på en

industrirobot från ABB, IRB 7600 med lastkapaciteten 150 kg och en räckvidd på 3.5 m.

II

Content 1 Introduction ............................................................................................................................. 1

1.1 Context ............................................................................................................................. 1

1.1.2 Centre for Renewable Electric Energy Conversation at Uppsala University ............ 1

1.2 Purpose ............................................................................................................................. 2

1.2.1 Criteria for the gripper tool ....................................................................................... 2

1.3 Methodology for the solution of this thesis ...................................................................... 3

1.4 Delimitations .................................................................................................................... 3

2 Gripper types and choice of gripper type ................................................................................ 4

2.1 Gripper types .................................................................................................................... 4

2.1.1 Single-surface grippers .............................................................................................. 4

2.1.2 Clamping grippers ..................................................................................................... 7

2.1.3 Flexible grippers ........................................................................................................ 8

2.2 Conclusion for selection of gripper type .......................................................................... 8

3 Pre-study and system overview ............................................................................................. 10

3.1 Survey of use .................................................................................................................. 10

3.2 System overview ............................................................................................................ 10

3.3 Study of the parts ............................................................................................................ 11

3.4 Comparison with other systems ..................................................................................... 12

4 Concept generation for the gripper tool ................................................................................ 14

4.1 Concept 1 ........................................................................................................................ 14

4.2 Concept 2 ........................................................................................................................ 15

4.3 Concept 3 ........................................................................................................................ 16

4.4 Concept 4 ........................................................................................................................ 17

5 Evaluation and comparison of the concepts .......................................................................... 18

5.1 Evaluation ....................................................................................................................... 18

5.2 Comparison .................................................................................................................... 18

6 Final construction for the gripper tool ................................................................................... 20

6.1 An overview of the gripper tool ..................................................................................... 20

6.2 The included parts of the gripper tool ............................................................................ 21

6.3 Solid Mechanics ............................................................................................................. 22

6.4 Economic calculation ..................................................................................................... 23

7 Experiment in ABB Robot Studio ......................................................................................... 24

III

7.1 Information about the Laser cutter and the industrial robot. .......................................... 24

7.2 An overview of the structured system ............................................................................ 25

8 Discussion and conclusions ................................................................................................... 27

8.1 Recommendation for future work .................................................................................. 28

9 Acknowledgements ............................................................................................................... 29

10 References ........................................................................................................................... 30

11 Appendix ............................................................................................................................. 31

IV

List of figures

Figure 1 The different notched parts .......................................................................................... 2

Figure 2 Permanent Magnet, picture taken from [4] page 204 ................................................. 4

Figure 3 Different types of suction cups, picture taken from [5] page 204 ............................... 5

Figure 4 Different types of suction cups from Anver, picture taken from [6] ............................ 6

Figure 5 Two and Three-jaw grippers from Schunk, picture taken from [7] ............................. 7

Figure 6 A multi fingered gripper, picture taken from [8] page 321 ......................................... 8

Figure 7 Survey of use .............................................................................................................. 10

Figure 8 An overview of the proposed system .......................................................................... 10

Figure 9 SheetMaster from Trumph, picture taken from [9] ................................................... 12

Figure 10 Heavy duty conveyor from QD-industries, picture taken from [10] ........................ 12

Figure 11 Automatic steered fork lifters from Egemin Automtion, picture taken from [11] .... 13

Figure 12 An overview of a overhead crane, picture taken from [12] ..................................... 13

Figure 13 Concept 1 ................................................................................................................. 14

Figure 14 Concept 2 ................................................................................................................. 15

Figure 15 Concept 3 ................................................................................................................. 16

Figure 16 Concept 4 ................................................................................................................ 17

Figure 17 End construction ..................................................................................................... 20

Figure 18 Included parts .......................................................................................................... 21

Figure 19 Strength calculation ................................................................................................ 23

Figure 20 Calculation for displacement .................................................................................. 23

Figure 21 Working range for IRB 7600-150/3.5, picture taken from [16] .............................. 24

Figure 22 LVD laser cutter, picture taken from [17] ............................................................... 24

Figure 23 An overview of the structured system ...................................................................... 25

Figure 24 Transporting of Distansring .................................................................................... 26

V

List of tables

Table 1 The round parts ............................................................................................................. 8

Table 2 Remaining parts ............................................................................................................ 9

Table 3 Round parts ................................................................................................................. 11

Table 4 Remaining parts .......................................................................................................... 11

Table 5 Evaluation of the concepts .......................................................................................... 18

Table 6 comparison and rating functions of the concepts ....................................................... 19

Table 7 all the included parts ................................................................................................... 21

Table 8 Mechanical properties of AW-EN 6063 T6. ................................................................ 22

Table 9 Economic calculation .................................................................................................. 23

Table 10 Specification for the industrial robot ........................................................................ 24

Table 11 Laser cutter specification .......................................................................................... 24

1

1 Introduction The industrial robots are one of the most important devices for better, modern and safer

automation. Requirements of today’s manufacturing industries are very high. To meet the

requirements of the market many companies decide to use industrial robots for better and

cheaper products. The industrial robots can perform work in many areas of the industry e.g.

pick and place objects, assembly, welding, painting and many more. There are several

advantages of using industrial robots in manufacturing. Some of the benefits are:

Since the robots are flexible and possible to reprogram, increases the possibility of

changing in the production.

The working environment for the man becomes better and easier, because the robot

can carry heavy and do dangerous work.

More efficient production for a lower cost.

The robots can repeat the same work in exactly the same way, therefore the quality of

the production increases.

The robots who work in a certain area must have a suitable gripper for the work. There are

many types of grippers. The most common grippers are jaw-type, vacuum and magnetic

grippers. The selection of the gripper is very important as the gripper is the device between

the robot and the work piece.

1.1 Context In May 2010 in a meeting with Mats Leijon and Erik Hultman about the topic for this

dissertation, robots were discussed and led to the further implementation of the idea onto this

project.

1.1.2 Centre for Renewable Electric Energy Conversation at Uppsala University

A project called “The Wave Power Project – Lysekil” is under development at the Centre for

Renewable Electric Energy at Uppsala University. The main purpose of the project is to

generate electricity from the wave motions of the sea over a longer period of time. The place

of the project is about 2 km west of the Islandsberg peninsula in the Lysekil County.

The electricity is generated by a linear generator. The linear generator is standing protected on

the seabed and is driven by a rope which is strapped to a buoy. Several of these wave power

units will be placed in the sea to generate electricity. The linear generators will be connected

to each other with standard cables at the seabed. The generated alternate current will be

converted into direct current with help of power electronics and then transported to land

through standard cables which will be connected to a power grid through a DC/AC converter.

[1]

2

1.2 Purpose As described earlier there will be several linear generators which will be placed on the seabed.

A plan to produce these generators is being made at the Uppsala University. The

manufacturing subsidiary will be placed at Lysekil. Some of the parts will be handled by

industrial robots.

This thesis will investigate a design of a gripper in a robotic system. The robot will pick and

place laser notched sheet metal parts from a 20 mm sheet metal plate. The parts have

different shapes and sizes. The largest details weights about 200 kg and have an outside

diameter about 1270 mm. The robots job will be to pick up the different parts from the laser-

cutter and transport the parts to different cells. A theoretically comparison of different picking

and lifting technique will be made for the choice of the best technique.

The main purpose of this thesis is to suggest a suitable gripper for picking and placing the

parts as described earlier, also design the gripper in the 3D-CADprogram SolidWorks and use

the designed gripper in the robot cell-simulation program called ABB Robotstudio. The aim

of using ABB RobotStudio is to know how the gripper works in the reality because the robots

will work as they will be programmed in the cell-simulated program.

1.2.1 Criteria for the gripper tool

The system consists with a laser-cutter and two industrial robots. One of the industrial robots

will load the laser cutter with 20 mm metal sheets, the other robot will pick the different

notched parts from the laser cutter and place them in different cells. The gripper in this thesis

is for the purpose of pick up and places the notched metal sheets from the laser cutter.

The gripper tool must be able to pick up various types of notched parts and place the parts in

different stations where the largest part is about 200 kg and have a outside diameter about

1270 mm. The parts must be ready for transportation to the next station within 30 minutes

with help of the industrial robot. The designed tool will be picking the larger parts only,

smaller parts are not included. The target size for the gripper is 2m x 2m. The material that is

being used for the gripper mostly copes with the shape and size of the gripper. The gripper

will be assembled with an industrial robot as descried earlier therefore the gripper must be

designed with consideration to the robot. The gripper must be able to hold the picked parts

even when there is power failure and the target price of the gripper is about 50 000 kr. For

secrecy reasons the exact measurement of the parts will not be published in this thesis

however for calculation the approximately measurements will be used. The notched parts is

shown in figure 1.

Figure 1 The different notched parts

3

1.3 Methodology for the solution of this thesis The methods that are being used in this thesis are:

Theoretically studying different lifting and gripping techniques.

To be able to design a gripper tool for an industrial robot, different lifting and gripping

techniques must be studied. Information about different gripping and lifting techniques

must be known for deciding which gripping or lifting technique will fit the design of

the gripper tool in this thesis.

Selection of lifting and gripping technique.

When the information about the different gripping and lifting techniques are known,

one of those techniques are being selected as lifting or gripping technique.

Design of several concepts.

With help of the gripping or lifting technique, several designs of different concepts

will be made in SolidWorks. The concepts will be designed with consideration to the

industrial robot and the criteria’s of the gripper tool.

Evaluation and comparison of concepts

When the different concepts are designed an evaluation and comparison of the

concepts will be made. Some functions of the concepts will be compared to each

other, the different functions will be given points from 1-10 where 10 is the highest

and 1 is the lowest. The concept that receives most points and meets the requirements

in the best way will be selected for a final design.

Development and a final design of selected concept.

The development and a final design of the gripper tool will be made in Solid Works.

Assembly and detail drawings will be made in Solid Works.

Experiment in ABB Robot Studio.

A robot cell system will be built in ABB RobotStudio, where the gripper tool will be

mounted on an industrial robot. Transportation of the different parts to different

stations will be simulated at this experiment.

1.4 Delimitations Some delimitation has been made due to the limited time and because of the thesis are only 15

credits. The delimitations are:

The gripper will not remove the wastage material from the laser cutting process.

This thesis relates to only one type of gripper.

Small parts are not included.

Wiring is not included.

The electrical part is not included.

4

2 Gripper types and choice of gripper type The robotic gripper is one of the most important parts in a robotic system. The gripper is the

device between the robot and the work piece. The selection of the gripper in a robotic system

is therefore very important. There are many different types of grippers and a wide variety of

factors to consider. The most common types of grippers are: jaw-type, vacuum and magnetic

grippers, the types of grippers can also be categorized into three main groups; single-surface

grippers, clamping grippers and flexible grippers [2].To decide which type of the grippers is

most suitable for picking up the parts and place the parts to the next station, a description of

the different gripping techniques and a conclusion will be presented in this chapter.

2.1 Gripper types As described earlier the gripper types can be categorized into three main groups. The three

main categories will be described here.

2.1.1 Single-surface grippers

When only one surface of the component is available, the single-surface grippers’ matches

perfect for gripping this types of components. These types of grippers are useful for gripping

light and heavy weight and flat components which are difficult to handle by other means. The

gripper types that are included in single-surface grippers are magnetic, vacuum and adhesive

grippers. These types of grippers are gripping the components by pulling force rather than a

pushing force which is more common for robotic-grippers [3]. The adhesive type of gripper

will not be discussed here because they are usually used for picking up fabric or similar

material.

2.1.1.1 Magnetic grippers

There are two types of magnetic grippers, permanent-magnets and electro-magnets. The

magnetic grippers are only suitable for picking up ferrous objects and are very easy to control

for picking and releasing. A permanent-magnet is an object that is made from a magnetized

material. The permanent magnets require a mechanism for releasing the gripped object as

shown in figure 2. [4]

Figure 2 Permanent Magnet, picture taken from [4] page 204

5

In addition to permanent magnets, a magnetic field can be electrically generated. The

magnetic field is generated by a wire wounded into a coil. When the electricity is passing

through the wire the magnetic field becomes active and the field disappears when the

electricity is gone. The electromagnetic lifters are often used for picking up various iron and

steel scraps. They are common in the manufacturing industries. Some objects can be

magnetized when picking with electromagnets but that problem can be reduced by connecting

the electromagnets to alternating current. The electromagnetic grippers can pick up and

release objects in few seconds which is beneficial when the time matters. Other benefits with

electromagnetic grippers are that they can be dimensioned for very big forces. [4]

2.1.1.2 Vacuum grippers

Vacuum-grippers become in suction cups, the suctions cups is made of rubber. The suction

cups are connected through tubes with underpressure devices for picking up items and for

releasing items air is pumped out into the suction cups. The under pressure can be created

with the following devices:

Vacuum pumps

Ejectors

Suction bellows

Pneumatic cylinders

The vacuum grippers use suction cups (vacuum cups) as pick up devices. There are different

types of suction cups and the cups are generally made of polyurethane or rubber and can be

used at temperatures between -50 and 200 °C. The suction cup can be categorized into four

different types; universal suction cups, flat suction cups with bars, suction cups with bellow

and depth suction cups as shown in figure 3.

Figure 3 Different types of suction cups, picture taken from [5] page 204

6

The universal suction cups are used for flat or slightly arched surfaces. Universal suction cups

are one of the cheapest suction cups in the market but there are several disadvantages with

this type of suction cups. When the under pressure is too high, the suction cup decreases a lot

which leads to a greater wear.

The flat suction cups with bars are suitable for flat or flexible items that need assistance when

lifted. These types of suction cups provides a small movement under load and maintains the

area that the underpressure is acting on, this reduces the wear of the flat suction cup with bars,

this leads to a faster and safer movement.

Suction cups with bellows are usually used for curved surfaces, for example when separation

is needed or when a smaller item is being gripped and needs a shorter movement. This type of

suction cups can be used in several areas but they allow a lot of movement at gripping and

low stability with small underpressure. The depth suction cup can be used for surfaces that are

very irregular and curved or when an item needs to be lifted over an edge. [5]

Items with rough surfaces (surface roughness ≤ 5 µm for some types of suction cups) or items

that are made of porous material will have difficulty with vacuum grippers. An item with

holes, slots and gaps on the surfaces is not recommended to be handled with vacuum grippers.

The air in the suction is sucked out with one of the techniques described earlier, if the material

is porous or has holes on its surface, it will be difficult to suck out the air. In such cases the

leakage of air can be reduced if smaller suction cups are used. Figure 4 shows different types

of suction cups. [4]

Figure 4 Different types of suction cups from Anver, picture taken from [6]

7

2.1.2 Clamping grippers

Two-jaw grippers and three jaw-grippers are related to clamping grippers and occur

frequently in manufacturing factories. Clamping grippers can be designed relatively simple,

therefore the price can be cheaper. Clamping grippers straps the object that is being picked up

by applying pressure internally or externally to more than one of the object surfaces. This

type of grippers is driven pneumatic or hydraulic. For smaller object that doesn’t need big

forces the pneumatic technique is used and for heavy object that requires big forces the

hydraulic technique is used. The pneumatic technique is more common because of the low

price, low weight, and ease of use. [2]

2.1.2.1 Two and three jaw grippers

Two-jaw gripper is the simplest type of jaw grippers. Two-jaw gripper consists with two

gripping fingers that apply pressure externally or internally on the object depending on the

jaw design. Depending on shape and size of the object the jaw-fingers can be designed

different for an accurately and securely movement. The two-jaw grippers can be used for

large and small objects. The mechanics for the movement of the jaw-fingers can include

linkage, cams, pinion and actuators, and as described earlier pneumatic and hydraulic

cylinders.

When the shapes get more complex than the two-jaw gripper can handle, the three-jaw gripper

is option for objects with more complex shapes. The three-jaw grippers consist with three

gripping fingers and apply pressure like the two-jaw grippers. The three-jaw grippers are

more complex and therefore more expensive than two-jaw grippers. Figure 5 presents two and

three jaw grippers. [2]

Figure 5 Two and Three-jaw grippers from Schunk, picture taken from [7]

8

2.1.3 Flexible grippers

Flexible grippers consist with several linkages on each finger and two or several fingers. Each

linkage have normally an individual steering, this types of grippers can be compared with the

human hand. The flexible grippers are indented to handle a number of different items. A

variety of these grippers have been produced by various researches. Multi fingered grippers

that are related to flexible grippers are like a human hand lookalike gripper with more than

two fingers. This type of gripper can grasp object with very complex shapes because of the

linkages in the fingers that can be controlled individually. The fingers in these types of

grippers can be simulated after the shape of the object that will be grasped. Other types of

flexible grippers are soft grippers, bladder grippers and adjustable-jaw grippers. Figure 6

shows a multi fingered gripper. [2]

Figure 6 A multi fingered gripper, picture taken from [8] page 321

2.2 Conclusion for selection of gripper type The notched parts that will come out from the laser-cutter will have wastage of metal sheets

around them. As described earlier the parts have different shapes and size and lies on a table

with one surface up. The different parts are presented in table 1 and table 2. For secrecy

reasons the exact measurement of the parts will not be published in this thesis but for

calculation approximately measurements will be used.

Table 1 The round parts

Detail Topplock Fläns Distansring

Picture

Weight 192 kg 42 kg 40 kg

Diameter 1270 mm 1260 mm 780 mm (length)

Thickness 20 mm 20 mm 20 mm

9

Table 2 Remaining parts

Detail Innerring Hjulbana Magnetplåt

Picture


Length 545 mm (R outside) 2180 mm 1960 mm

Width 505 mm (R inside) 70 mm


The parts are cut from 20 mm metal sheets, which mean there is only 2 cm on the side

surfaces available for gripping. As shown in the tables the parts have different shapes and

there are holes in almost every part. A clamping gripping technique will be very difficult and

expensive for gripping and handling the parts, because of the heaviness and the different

shapes of the parts. As described earlier it will be wastage of metal sheets around the parts

after that they have been notched from the laser. This can cause a problem if the parts will be

handled with clamping or flexible grippers. The wastage of sheet metal makes it difficult for

clamping grippers because the laser will only cut track in the metal sheet with less than one

mm width. That makes it difficult for the jaws of the clamping gripper to fit in. The flexible

grippers are often used for more complex shapes, e.g. cylindrical or spherical. The parts in

this thesis are not that complex and don’t require a high accuracy for handling, which means a

flexible gripper will not be an option.

When the laser cutter is done cutting, the parts will lie down on a table, which means an upper

surface will be available for gripping and lifting. For taking advantage of the upper surface

the single-surface grippers will be a great option. As described earlier single-surfaces grippers

includes vacuum grippers and magnetic grippers. The vacuum grippers are often used for

materials that are processed and don’t have a rough surface. As shown in table 1 and table 2

four of six parts includes holes. The holes will make it difficult for the suction cups, because

of the heaviness of the parts, a big suction cups will be required. Vacuum grippers require

often extremely clean surfaces.

The material of the part is of ferrous steel. That means that the parts can be handled with the

magnetic grippers. The two types of magnetic grippers, permanent-magnetic grippers and

electro-magnetic grippers can be used for picking up the parts and transport them to the next

station. The permanent magnet requires a mechanism for picking up and releasing the parts,

but electro-magnet will be a better choice because it doesn’t require any mechanism and the

strength of the electro-magnets can be controlled by the voltage, which could be perfect for

picking up the different parts.

10

3 Pre-study and system overview

3.1 Survey of use There are many different grippers and several types of gripping techniques. The gripper in

this thesis will pick and place different notched metal sheets. The parts have different shapes

and therefore different weight.

The intended work process for the robot and the gripper is:

Figure 7 Survey of use

3.2 System overview The system in this thesis includes two industrial robots and a laser cutter. One of the robots is

bigger than the other robot. The bigger robot is preparing and loading the laser cutter with

uncut metal sheet and removes the scrap metal from the cutting. The smaller robots job is to

transport the various parts that come out from the laser cutter to various stations. The

proposed system is shown in figure 8.

Figure 8 An overview of the proposed system

Grip

TransportRelease

Reach1. Reach

2. Grip

3. Transport

4. Release

11

As seen in the picture, the pallet that stands next to the big robot is for uncut metal sheet. The

big robot have to pick the metal sheet that weight about 1 tonne and have a dimensions 3x1.5

m and 20 mm thickness and place it on the laser cutter table.

3.3 Study of the parts

A study of the parts that need to be transported is presented in following tables. The heaviest

part Topplock will not be handled by the gripper tool in this thesis. After discussions with

Erik Hultman, a conclusion for handling the Topplock by the bigger robot seen in previous

sub-chapter was made. The Topplock weights about 192 kg which is 122 kg more than the

Magnetplåt being the second heaviest part. The most imported dimensions are highlighted in

the tables.

Table 3 Round parts

Detail Topplock Fläns Distansring

Picture


Diameter 1270 mm 1260 mm 780 mm (length)


Area for

gripping

1265 150 250

Table 4 Remaining parts

Detail Innerring Hjulbana Magnetplåt

Picture


Length 545 mm (R outside) 2180 mm 1960 mm

Width 505 mm (R inside) 70 mm 230


Area for

gripping

40 mm 70 mm 230 mm

12

3.4 Comparison with other systems SheetMaster from a company called Trumph is a different solution for picking and placing

parts as shown in figure 9. [9]

Figure 9 SheetMaster from Trumph, picture taken from [9]

SheetMaster can pick up, transport and release different parts with help of a vacuum gripper.

The benefit with this system is that the system can be cheaper than the system in this thesis.

The disadvantages with this system are that it can only move in one direction and that the

parts are being gripped with vacuum gripper in this system, which can be a problem for the

parts in this thesis.

Another system for transporting items is transport with conveyers. This type of systems can

be relativity simple and cheap. The items can only be transported on the conveyer to the end

destination, which can have advantages but for the items in this thesis that lies down on the

table, the parts need to be lifted from the table to the conveyer before being transported to the

various stations. This type of system is not that flexible as industrial robots for transporting

the parts in this thesis, because if the parts are stuck with the metal scrap that lies around them

when being cut, the parts need therefore to be shacked so the scrap doesn’t follow when

transporting to another station.

Figure 10 Heavy duty conveyor from QD-industries, picture taken from [10]

13

Another way to transport the parts atomically is with help of automatic steered fork lifters as

shown in figure 11, the fork lifter in the picture is from a company called Egemin

Automation. This type of transport is often used for items that need to be transported a longer

distance. This type of transport will have difficult to pick up the notched parts that come out

from the laser cutter, as there is no space between the item that needs to be handled and the

table.

Figure 11 Automatic steered fork lifters from Egemin Automtion, picture taken from [11]

Overhead crane, also known as a bridge crane can be used for picking and placing items. This

type of crane can be used with heavy items and is common in steel industries. Figure 3.4

shows an overview for a type of overhead crane. This lifting technique is often used for bigger

and heavier items and if a smaller overhead crane is used for the parts in this thesis it will not

be as flexible as an industrial robot. The parts that need to be lifted in this thesis are not that

big and heavy, therefore such a big and space-consuming technique will not be necessary.

[12]

Figure 12 An overview of a overhead crane, picture taken from [12]

14

4 Concept generation for the gripper tool In this chapter a description of different concepts with different designs will be presented.

Four different concepts will be presented; the concepts are designed with respect to the

criteria for the gripper tool and the different shapes of the parts which were presented in

chapter 3.3. A description of how the concepts are supposed to work and which advantages

and disadvantages they have will be clarified. The concepts have been designed in the 3D

cad-program Solid Works. The electromagnets in the concepts are from a company called

Svenska Magnet Fabriken. The small electromagnets can lift 250 N and have an outside

diameter of 32 mm. The large electromagnets can pick up 700 N and have an outside diameter

of 50 mm.

4.1 Concept 1 Figure 13 presents concept 1

Figure 13 Concept 1

Concept 1 includes four electromagnets. There are two large and two small magnets. The

electromagnets in middle of the gripper are the smaller ones and the magnets which sits at the

far end are the larger ones. The large magnets will pick the part Fläns and the small magnets

will pick Innerring and Distansring. When the large magnets are activated the smaller

magnets will be deactivated. However when the smaller magnet picks the larger magnets will

be deactivated. The remaining parts Hjulbana and Magnetplåt will be picked by all four

magnets. The electromagnets will have battery backup for security reasons, in case of power

failure.

Advantages

+ Light weight

+ Simple Design

Disadvantages

- Too little contact between the gripper and the item that being lifted

- Unsafe when moving the round parts

15

4.2 Concept 2 The following picture presents concept 2

Figure 14 Concept 2

Concept 2 includes eight electromagnets. There are six large and two small magnets. The

electromagnets in the middle of the tool are the smaller ones and the electromagnets which sit

at the far end and on the wings are the larger ones. The large magnets will pick the part Fläns

while the small magnets are deactivated. Furthermore the smaller magnets will pick Innerring

and Distansring while the larger magnets are deactivated. The remaining parts which are

Hjulbana and Magnetplåt, will be picked by the two small and two large magnets in the

middle while the electromagnets on the wings will be deactivated when lifting these two parts.

The electromagnets will have battery backup for security reasons, in case of power failure.

Advantages

+ Simple Design

+ Safer than concept 1

+ Light weight

Disadvantages

- Heavier weight than concept 1

- Too little contact between the gripper and the small round part Distansring.

16

4.3 Concept 3 Figure 15 presents concept 3

Figure 15 Concept 3

Concept 3 includes eight electromagnets. There are four large and four small magnets. The

electromagnets in middle of the concept are the smaller ones and the electromagnets which sit

at the far end are the larger ones. The large magnets will pick the part Fläns while the smaller

magnets are deactivated. The small magnets will pick Innerring and Distansring while the

large magnets are deactivated. The remaining parts, which are Hjulbana and Magnetplåt, will

be picked by two small and two large magnets which sit on line and the electromagnets that

doesn’t have any contact with the item while being lifted will be deactivated. The

electromagnets will have battery backup for security reasons, in case of power failure.

Advantages

+ Simple design

+ Safer than concept 1 and 2 when lifting and transporting

+ Four contact points between the gripper and almost all items that being lifted

Disadvantages

- Heavier than concept 1 and 2

17

4.4 Concept 4 The following picture presents concept 4

Figure 16 Concept 4

Concept 4 includes four electromagnets. The magnets in this concept are operated like the

magnets in concept 1. This concept doesn’t need battery backup for the electromagnets. The

difference with this concept is the “fingers” as shown in figure 4.4. The fingers will move up

when the robot goes down for gripping the items that lies down on the laser cutter table.

When they have been gripped and the robot lifts the item a bit over the laser cutter table the

“fingers” of the gripper will close. The fingers are for catching the items in case of power

failure.

Advantages

+ No need of battery backup

Disadvantages

- Too little contact between the gripper and the item that being lifted

- Unsafe when moving the round parts

- Complicated design

- Heavy weight

- Unsafe until the fingers comes under the items

- Needs more components for moving the fingers up and down.

18

5 Evaluation and comparison of the concepts An evaluation and comparison of the different concepts will be presented in this chapter.

5.1 Evaluation The evaluation of the concepts has been made against the product requirement specification.

The most important requirements are the following points:

1 The target size for the gripper tool are 2m x 2m

2 The gripper tool must be capable of picking and placing laser notched parts with

different weight and shapes.

3 A simple design, the product shall be designed simple so the parts in the product can

be replaced in a simple way

4 When lifting the items, the gripper tool must hold the items even in case of power

failure.

5 The tool will be installed on an industrial robot. The product must be designed with

consideration to the robot.

The following table presents the concepts and the requirements. If the concepts meet the

requirements they receive a (Y) and if the concept doesn’t meet the requirements they receive

a (N). The requirements are the five above points.

Table 5 Evaluation of the concepts

Concept Requirement 1 Requirement 2 Requirement 3 Requirement 4 Requirement 5

Concept 1 Y Y Y Y N

Concept 2 Y Y Y Y N

Concept 3 Y Y Y Y N

Concept 4 Y Y N N N

Requirement 5 which is: The product will be installed on an industrial robot. The product

must be designed with consideration to the robot. None of the concepts meets the requirement

because the industrial robot has not been selected yet. The industrial robot will be selected

later in this thesis and the design of the gripper tool for installing on selected robot will be

made then. None of the concepts will fall away due to this requirement because the concept

that is selected later in this thesis, will be designed with consideration to the industrial robot.

5.2 Comparison A comparison of the concepts will take place in this sub-chapter. All the concepts will be

compared to each other, even if some of the concepts don’t meet with all the requirements.

For knowing which concept is most suitable for picking and placing the different parts, a

comparison of different functions will be made. The functions will be rated from 1-10, there

10 is best and 1 is worst. The functions that being compared are:

Stability when picking and placing, very stabile = 10

Design, simplest design = 10

19

Weight, lightest weight = 10

Holding during power failure, security during the whole transport way = 10

Table 6 comparison and rating functions of the concepts

Concept Stability Design Weight Power

failure

Total

points

Concept 1

2

Too little

contact

between

some parts

9

Simplest

design

9

Lightest

weight

10

Battery

backup,

secure all the

way

30

Concept 2

5

Stable for

some parts,

not stable

for all the

parts

8

Not

complicated

design

8

Heavier

than

concept 1

10

Battery

backup,

secure all the

way

31

Concept 3

9

Stable for

all the

parts, 4

point

contacts for

almost

every part

8

Not

complicated

design

7

Heavier

than

concept 2

10

Battery

backup,

secure all the

way

34

Concept 4

2

As concept

1

1

Most

complicated

design

3

Heaviest

one

4

Fingers for

catching the

parts in case

of power

failure, don’t

secure all the

way

10

As seen in the table, concept three has scored the highest of all the concepts. Concept three

has a high score in all tasks, but concept 2 is not stabile when lifting for example Distansring,

therefore concept three gets a higher score than concept two. Concept one is great when it

comes to simplicity and light weight but the problem with this concept is the contact points

between some of the parts, for example Distansring and Fläns, this two parts are heavy and

big, a four-point contact will be more stable than a two-point which concept one offers.

Concept three has a four point contact with all the big and heavy parts, this makes the concept

the most stable when handling those parts. The design is not that complicated in concept three

and the weight is not so heavy either. Therefore concept three will be selected for further

development and construction.

20

6 Final construction for the gripper tool As described in the earlier chapter, concept three was selected for further development and

construction. All the components that consist in this design will be described. An economic

calculation will take place at the end of this chapter.

6.1 An overview of the gripper tool

Figure 17 End construction

As seen in figure 17 above, the design of the gripper tool is not complicated and works

relatively simple. Eight electromagnets are included in this gripper tool. The electromagnets

screws tight on the square aluminium tubes, the round part that can be seen in the back of the

gripper tool is the link between the industrial robot and the gripper tool. The square

aluminium tubes will be welded together and the round link will be welded to the square

aluminium tubes. The gripper will be screwed with the industrial robot. All the material and

components used in this final design are standard products that can be purchased from

suppliers except the link between the gripper and the robot and a part called magnethojare.

All parts can be handled by this gripper tool. Almost all the parts have a four-point contact

with the gripper only the Innerring will have a two-point contact. The four electromagnets in

the middle of the gripper tool, which are the smaller electromagnets, can be used for picking

Distansring. The two small and two large electromagnets, which are on the long square

aluminium tube, are intended to pick the parts Hjulbana and Mangetplåt. Innerring will be

picked by two small electromagnets in the middle of the gripper tool.

21

6.2 The included parts of the gripper tool There are 24 parts included in this gripper tool. The parts can be seen in figure 18 and will be

described in table 7.

Figure 18 Included parts

Table 7 all the included parts

Item No. Part Description Quantity

1 Middle beam (mittenbalk) L=1300, 40x40x3 mm 1

2 Hexagon Head Screw ISO 4017- M5x50 4

3 Big magnet (Stormagnet) Holding force = 700 N 4

4 Holder (Hallare) Link between the robot and

the gripper 1

5 Side beam (sidanbalk) L= 630, 40x40x3 mm 2

6 Hexagon Head Screw ISO 4017 – M4 x 50 4

7 Magnet raiser (magnethojare) D= 32 mm, H=5 mm 4

8 Small Magnet (litenmagnet) Holding force = 250 N 4

Drawings and information about the parts can be studied in the appendix 1 and 3 at the end in

this thesis.

Aluminium is used for this end construction due to aluminium’s fine qualities. Aluminium is

a light weight material and non-magnetic; which is perfect for this construction as the

electromagnets on the gripper tool could magnetize steel. The light weight of the gripper tool

is important because the industrial robots are designed handling a maximum weight.

22

6.3 Solid Mechanics Strength calculations were made for the gripper tool. The purpose of this calculation was to

see if the aluminium and the dimensions of the gripper tool could cope with the forces they

are exposed too. The material that is being used is a sort of aluminium called AW-EN 6063-

T6. The mechanical properties of this material can be studied in table 8.[13]

Table 8 Mechanical properties of AW-EN 6063 T6.

Ultimate tensile strength 241 MPa

Tensile Yield Strength 214 MPa

To see if the gripper tool can cope with the forces, a calculation for the max stress in the

material of the gripper tool must be made. These formulas have been used to calculate the

max stresss:

(1.1)

(1.2)

The calculations can be seen in appendix 2. [14] [15]

The maximum torque will be in the middle of the gripper tool when lifting the heaviest part

Magnetplåt the maximum torque is about 560 Nm. The maximum stress is about 136

MPa, the tensile yield strength for the material is 214 MPa which means, the shape of the

gripper tool and the material is that being used is good enough for picking and placing the

different notched parts.

A strength calculation was made with the Finite Element Method, FEM, in the 3D CAD-

program Solid Works. The purpose of this calculation was to see where the maximum stress

occurred on the gripper tool. The heaviest part that needs to be lifted is Magnetplåt which

weights 70 kg and calculation was also made for Fläns because this part affects the

electromagnets which sit at the far end. Figure 19 on the next page shows the result of the

calculation. The maximum stress that can be seen in the figure, which is near the middle of

the gripper tool and is marked with circles .The picture to the left is for Magnetplåt and the

picture to right presents the result of the calculation for the Fläns. The pictures can be studied

closer in the appendix 2.

23

Figure 19 Strength calculation

A calculation for displacement was made in the same 3D CAD-program as the previous case.

The result of the calculation can be seen in figure 20. When lifting Magnetplåt, as can be seen

in the image to left, the effect is greatest at the end of the gripper tool. The displacement is

about 2 mm when handling Magnetplåt. When lifting Fläns, the displacement is about 0.8

mm. This small movement does not contribute to a greater angle. A great angle will affect the

electromagnets but in this case it will not be any problem.

Figure 20 Calculation for displacement

6.4 Economic calculation The total price for the gripper tool are about 10500, the economic calculation can be seen in

table 10

Table 9 Economic calculation

Part Price (sek) Quantity Total (sek) EN AW-6063 T6 64,14 /m 3 m 192,5 Small electromagnets EMAG 32

573 per unit 4 units 2292

Large Electromagnets EMAG 50

880 per unit 4 units 3520

Other material - - 500

Cost of work - - 4000

Total 10504,5

24

7 Experiment in ABB Robot Studio The purpose of this experiment was to test the gripper tool that being designed but also to get

an overview of robotized picking and placing of the different laser notched parts. A

description of the system and the industrial robot and the laser cutter will take place in this

chapter. It is important to notice that this structured system does not look like the intended

system, to construct the whole intended system is time consuming and this thesis does not

cover the construction of the entire system.

7.1 Information about the Laser cutter and the industrial robot. Specification for the industrial robot from ABB can be seen in table 10. [17]

Table 10 Specification for the industrial robot

Robot version Reach Handling capacity

Position repeatability

Rotation of axis 1

IRB 7600 3.5m 150 kg 0.08-0.09 mm -1 to 180

Working range of the IRB 7600 can be seen in figure 21:

Figure 21 Working range for IRB 7600-150/3.5, picture taken from [16]

Specification for the laser cutter from LVD (not exact measurement) can be seen in figure 22

and table 11.[18]

Table 11 Laser cutter specification

Length Height Wideness

13 m 5 m 3 m

Figure 22 LVD laser cutter, picture taken from [17]

25

7.2 An overview of the structured system The system was built up in ABB Robot studio. There are two industrial robots in this system

as seen in figure 23. The industrial robot that has the gripper tool assembled is the robot that is

picking and placing the different notched parts. The other industrial robot is the big robot that

is supposed to load the laser cutter with uncut metal sheets. However this robot does not

perform any work in thesis, the robot only display the location for the big industrial robot.

The pallets are representing various stations for the different parts. The yellow fences are for

safety of the system.

The experiment started with structuring the system. The first step of structuring was to

coordinate the items into right places. In the Robot Studio, there is a so-called world

coordinate-system. This coordinate system is base for everything that is being imported to the

program. The items can be coordinated from this base coordinate system.

Next step is to teach the robot and the gripper tool the work they are supposed to do. This

step starts with creating work objects and robot targets. The work objects in this system are

the different notched parts that lie on the laser cutter table. After the work objects are defined

targets are being created. The targets are coordinate-systems in different places in the system.

When the targets have been created, the industrial robot is taught to move to the different

targets.

Figure 23 An overview of the structured system

Also the gripper tool have to be taught to know what to do. First step was to assemble the

gripper tool onto the industrial robot. When the industrial robot is programed to the right

position for gripping the diffretent parts, the gripper tool becomes active. To activating the

gripper tool; attach and deattach signals were created. When the gripper tool is in the right

26

target, i.e above Distansring as seen in figure 24. The work object, which is Distansring,

attachs to the gripper tool and the industrial robot transports the work objekt to aimed station

and the gripper tool deattachs the workobject. The whole process for transporting Distansring

can be seen in figure 24. See appendix 4 for illustration of transport of all objects.

Figure 24 Transporting of Distansring

27

8 Discussion and conclusions To design a gripper tool for an industrial robot has been very instructive. In the beginning of

this degree project, the gripper tool didn’t seem to be complicated. When reading and

knowing there are many factors to consider, the thesis became more instructive and

challenging.

The aim of this thesis was to design a gripper tool, make assemble drawings and detail

drawings for the gripper tool but also experiment with the gripper tool in robot cell-simulation

program ABB Robot Studio. The aim of the thesis has been reached and the gripper tool is

ready for testing with industrial robots in the reality.

The solid calculation which was presented in chapter 6.3 indicates that the material and the

design could cope with the forces that the gripper tool was exposed for. The yield strength for

the material was 214 MPa and calculations showed that the maximum stress in the material is

only 136 MPa. The calculation which was made in Solid Works, result of the calculation has

not been exactly the same when trying to do same calculation twice; it’s good to be critical to

the result, the different results may be caused by different mesh sizes in the program. The

material and shapes of the gripper tool can be changed if a stronger structure is desired.

To use ABB Robot Studio was a challenging experience. The whole experiment can be seen

in a short movie, see appendix 4. When picking and placing in the experiment in chapter 7,

the industrial robot was guided from target to target to know where the objects were placed on

the table. The parts that come out from the laser cutter will not have the same starting position

as in the experiment. It’s vital for the industrial robot to know the exact position of the parts

and also which part that have been cut. It’s important because the industrial robot must place

the gripper tool in exactly right position. It’s necessary that the electromagnets doesn’t go

outside the item that’s being handled, otherwise the electromagnets will grip the scrap of sheet

metal.

The gripper tool needs only a few seconds to active the electromagnets and lift the details.

When the items come out from the laser cutter, they will have scrap of metal sheets around

them and the items might need to lie down some minutes on the table to be cooled. The items

can be stuck in the scrap of metal sheets around them, to avoid the scrap, the items might need

to be shacked to loosen before being lifted. Due to this problems and the system in this thesis

doesn’t look like the supposed system, it has been difficult to see if the items can be

transported within 30 minutes which was a criteria.

The target price for the gripper tool was 50 000 kr, the gripper tool in this thesis costs about

10500, the product price is not exact because it have been difficult to know about the price for

welding and assemble work. Another criteria was the size of the gripper tool, the target size of

the gripper tool was 2m x 2m, the size of the designed gripper tool is 1.3m x 1.3m.

28

8.1 Recommendation for future work As described earlier the industrial robots needs to know the exact position of the parts when

coming out from the laser cutter. A vision camera system, which is common in some

production areas, or creating some mechanism for positioning the parts that has been notched

is recommended.

The industrial robots that are being used in this experiment are from ABB. There are many

suppliers for industrial robots. Some of the suppliers are KUKA, FANUC and Motoman. All

the suppliers have similar robots as the robots that are being used in the experiment, i.e. a

version KR 210 L150-2 from KUKA which is similar to the smaller robot in the experiment

can perform the same work. A recommendation is to compare the industrial robots from

different suppliers and see which one of them is best suitable for this work.

Last but not least, another recommendation is to have a closer look at the permanent magnets.

It is usual that permanent magnets are being magnetized manually. Mechanism can be created

for automatically magnetize and demagnetize the permanent magnets. The electromagnets

that are being used in this thesis needs battery backup for safety reasons, the electromagnets

can be replaced with permanent magnets if they can be magnetized automatically. That would

eliminate the need for battery backup.

29

9 Acknowledgements A special thanks to Mats Leijon and the division for electricity at Uppsala University for

giving me this opportunity to complete my examination

Thanks to preceptor Erik Hultman for all help and discussions through the work, thanks a lot.

A special thanks to my fiancée for helping me with the language and the layout of the report.

Many thanks to my friends for helping me with all ideas and discussions through the work

Thanks to my family for supporting me through my education.

30

10 References [1] Uppsala University. Division for Electricity 2010. http://www.el.angstrom.uu.se

(Retrieved 2010-09-12)

[2] D.T. Pham, S. H. Yeo. Grippex: A hybrid expert system for selecting robot gripper types,

(1990), 349-352.

[3] D.T. Pham, S. H. Yeo. A knowledge-based system for robot gripper selection: criteria for

choosing grippers and surfaces for gripping, (1988), 301- 313.

[4] Gareth J.Monkman, Stefan Hesse, Ralf Steinmann, Henrik Schunk (2007). Robot

Grippers, Wiley-VCH, Weinheim (ISBN 0-13-033030-2).

[5] Gunnar S Bolmsjö (2006). Industriell robotteknik, Studentlitteratur, Lund

(ISBN 91-44-28512-4).

[6] Anver 2010, http://www.anver.com (Retrieved 2010-09-25)

[7] Schunk 2010, http://www.se.schunk.com (Retrieved 2010-09-25)

[8] Yoshihiro Kusuda. High speed vision sensor and quick robotic hand enable a robot to

catch a ball (2003), 319-321.

[9] Trumph 2010, SheetMaster http://www.trumpf-machines.com (Retrieved 2010-10-10)

[10] QC Industries 2010, http://www.qcindustries.com (Retrieved 2010-10-10)

[11] Egemin automation 2010, http://www.egeminusa.com (Retrieved 2010-10-10)

[12] Born Overhead Crane 2010, http://www.dearborncrane.com (Retrieved 2010-10-10)

[13] ASM 2010, http://asm.matweb.com/search/SpecificMaterial.asp?bassnum=MA6063T6

(Retrieved 2010-11-08)

[14] Hans Lundh (2007). Grundläggande hållfasthetslära, Instant Book AB

(ISBN 978-91-972860-2-2)

[15] Bengt Sundström (1999), Handbok och formelsamling i Hållfasthetslära, Fingraf AB,

Södertälje.

[16] ABB Robotics 2010, http://www.abb.se (Retrieved 2010-11-02)

[17] LVD Machines 2010, http://www.lvdgroup.com (Retrieved 2010-11-02)

31

11 Appendix Appendix 1 Assemble and detail drawings

Appendix 2 Solid Mechanics calculations and pictures

Appendix 3 Information about material and components that are being used

Appendix 4 The whole experiment movie, available on request

7

6

5

8

4

2

3

1

ITEM NO. PART NUMBER DESCRIPTION QTY.1 mittenbalk_40x40x3

_L1300 1

2Hexagon head screw ISO 4017 - M5 x 50

Hexagon head screw ISO 4017 - M5 x 50 4

3 stormagnet 44 hallare 15 sidanbalk_40x40x3_l

630 2

6Hexagon head screw ISO 4017 - M4 x 50

Hexagon head screw ISO 4017 - M4 x 50 4

7 magnethojare 48 litenmagnet 4

Assem2

Karokh Mohamemd

WEIGHT:

A3

SHEET 1 OF 1SCALE:1:20

DWG NO.

TITLE:

REVISIONDO NOT SCALE DRAWING

MATERIAL:

DATESIGNATURENAME

DEBUR AND BREAK SHARP EDGES

FINISH:UNLESS OTHERWISE SPECIFIED:DIMENSIONS ARE IN MILLIMETERSSURFACE FINISH:TOLERANCES: LINEAR: ANGULAR:

Q.A

MFG

APPV'D

CHK'D

DRAWN

8x10

8x45°

160

A

A

200

A-A

hallare

Karokh Mohammed

WEIGHT:

Aluminum 6063-T6A4


DWG NO.

TITLE:


MATERIAL:

DATESIGNATURENAME



Q.A

MFG

APPV'D

CHK'D

DRAWN

343440

40

R3R3,751:2

56,3

400

900

1243

,8

20

A

A

B

C13

00

D

A-A 1 : 10

2 X5

B 1 : 5

2 X 4

C 1 : 5

D 1 : 2

mittenbalk_40x40x3_L1300

Karokh Mohammed

WEIGHT:

Aluminum 6063-T6A4


DWG NO.

TITLE:


MATERIAL:

DATESIGNATURENAME



Q.A

MFG

APPV'D

CHK'D

DRAWN

40

40

R3

R3,75

34

34

1:2

630

56,3

400

20A

A

B

C

D

A-A 1 : 5

5

M 2 : 5

4 N

2 : 5

D 2 : 5

sidanbalk_40x40x3_l630

Karokh Mohammed

WEIGHT:

Aluminum 6063-T6A4


DWG NO.

TITLE:


MATERIAL:

DATESIGNATURENAME



Q.A

MFG

APPV'D

CHK'D

DRAWN

32

4

A

A

5

A-A

magnethojare

Karokh Mohammed

WEIGHT:

Stainless steelA4


DWG NO.

TITLE:


MATERIAL:

DATESIGNATURENAME



Q.A

MFG

APPV'D

CHK'D

DRAWN

Appendix 2

Maximum load = 700 N

Calculations of

0220-150 80

Elektro hållmagneterArtnr a b c d e effekt (W) kraft (N)

emag 25 25 20 200 M4 6 3,2 115

emag 32 32 22 200 M4 6 3,4 250

emag 40 40 25,5 200 M5 8 4,6 375

emag 50 50 27 200 M5 8 6,4 700

emag 65 65 30 200 M8 12 8,2 1000

17

• Används inom industrin för att hålla fast och flytta arbetsstycken.

• Speciellt framtagna och testade för kontinuerlig inkopplingstid.

• Kan användas inom automations-processer.

• Standardutförande för 24V likström.

• Finns i olika versioner och storlekar.

• Utrustad med fri anslutning.

• Kan fästas genom ett centralt gängat hål.

• Motsvarar kraven för skyddsklass IP 65.

• Kan användas som säkerhetsmagneter på branddörrar i fartyg och byggnader.

• Kan förses med polplatta.

• Kan utrustas med transformator eller annan drivenhet vid behov.

MAGNETER

När ABB behövde en, eller rättare sagtflera, magneter för att låta en stans-

maskin lyfta en tunn plåt på plats förbearbetning, vände de sig till oss.

Här behövdes en magnet som blev enmeter lång och med lite olika lyft kraft

beroende på plåtens utseende föreoch efter stans ning. Handlindade

elektromagneter, stor erfarenhet ochgediget hantverk var vad som

behövdes denna gång.

Förutom att vi har ett standardsortiment av elektromagneter och hållmag -

neter så kan vi hjälpa dig med specialanpassade elektropermanenta mag-

neter, lyftmagneter, magnetseparatorer, rensmagneter samt lösningar för

avmagnetisering. Vi hjälper dig med magnetkonstruktioner och tillverk-

ning av prototyper av elektropermanenta magneter. Drivenheter för

elektromagneter är också något vi behärskar. Med vår erfarenhet av prak-

tisk magnetlära och vårt breda kontaktnät av spetskompetens, vet vi när

det fungerar med magnetism, och för din trygghet, när det inte gör det.

elektro

EN AW-5754O/H111

EN AW -6082T651

EN AW-7075T651

EN AW-5083Plancast Plus

Tmm

Formatmm

Vikt 1)

kg/st Art.nr kr/kg Art.nr kr/kg Art.nr kr/kg Art.nr kr/kg8 2020x1020 44,50 89233 51,34 89444 64,898 2520x1270 69,13 28107 51,348 3000x1500 97,20 187164 101,908 3020x1520 99,15 87083* 54,43

10 2020x1020 55,63 27187 51,34 11940 64,89 16475* 78,2010 2520x1270 86,41 57700 51,34 77035* 65,8110 3000x1500 121,50 180323 90,1810 3020x1520 123,94 88623 51,3412 2020x1020 66,76 29957* 55,36 79443 64,8912 2520x1270 103,69 11894 51,34 86651* 65,8112 3000x1500 145,80 180326 87,4115 2020x1020 83,45 61700 51,34 10625 64,89 31392* 78,2015 2520x1270 129,62 85579 51,34 92038 64,89 181364* 84,6315 3000x1500 182,25 180327 85,6020 2020x1020 111,26 93853 51,34 32248 64,89 62000 79,1320 2520x1270 172,82 10505 51,34 97811 64,8920 3000x1500 243,00 180328 85,6025 2020x1020 139,08 70040 51,34 76820 64,89 77691* 78,2025 2520x1270 216,03 20516 64,8925 3000x1500 303,75 180329 82,3630 2020x1020 166,89 82773 51,34 99769 64,89 93640 79,1330 2520x1270 259,23 27447* 65,8130 3000x1500 364,50 180330 82,3635 2020x1020 194,71 33161 64,8940 2020x1020 222,52 95772 51,34 56994 64,89 19848 79,1340 3000x1500 486,00 180331 81,4050 2020x1020 278,15 19038 51,34 81269 64,89 36313 79,1350 3000x1500 607,50 180412 81,4060 2020x1020 333,78 32569 51,34 15987 64,89 53036 79,1370 2020x1020 389,42 60429* 55,36 16519 64,89 87256 79,1380 2020x1020 445,05 74758* 55,36 38446 64,89 115635 79,1390 2020x1020 500,68 60727* 66,74 115636 79,13

100 2020x1020 556,31 92225* 56,29 83362* 66,74 115637 79,13120 2020x1020 667,57 119913 64,89 119916* 79,13135 2020x1020 751,02 119917* 85,74150 2020x1020 834,46 119918 79,13

1) Gäller för EN AW-6082För övriga legeringar mulitplicera vikterna med följande:EN AW-5754 0,985EN AW-7075 1,037EN AW-5083 00,985*= leveranstid ca 10 dagar.

Aluminium - Plåt - Tjock plåt

Skapad 2010-10-12 5 Aluminium - Plåt - Tjock plåt

EN AW-6060/6063T6

EN AW-6060/6063T6

Naturanodiserad 10 MyDimension

mmViktkg/m Art.nr kr/kg Art.nr kr/m

15x 15x 1,0 0,15 78375 56,55 8,4818x 18x 1,0 0,18 82682 53,43 9,6220x 10 x1,5 0,22 16399 53,43 170968 22,0620x 20 x1,0 0,21 88800 53,43 11,2220x 20x 1,5 0,30 47693 53,43 16,0320x 20x 2,0 0,39 56216 53,43 170973 25,9025x 15 x1,5 0,30 96741 53,43 171132 22,5025x 15 x2,0 0,39 65621 53,43 20,8425x 25 x1,5 0,38 90844 53,43 171141 24,6925x 25x 2,0 0,50 75908 53,43 26,7230x 20x 1,5 0,38 39921 53,43 20,3030x 20x 2,0 0,50 41338 53,43 26,7230x 30x 1,5 0,46 99128 53,43 24,5830x 30x 2,0 0,60 68241 53,43 170927 33,7530x 30x 3,0 0,88 16250 53,43 47,0235x 17x 2,0 0,52 17653 53,43 170929 32,5235x 35x 2,0 0,71 14073 53,43 171131 41,6940x 20 x1,5 0,46 54168 53,43 24,5840x 25 x2,0 0,66 31174 53,43 170977 40,0440x 40x 2,0 0,82 50574 53,43 170928 36,3840x 40x 3,0 1,20 83896 53,43 64,1245x 45x 2,0 0,93 60862 53,43 49,6950x 30x 2,0 0,82 66153 53,43 170979 34,8850x 30 x2,5 1,01 74209 53,43 53,9650x 50x 2,5 1,28 77029 53,43 68,3950x 50 x3,0 1,52 22297 53,43 81,2160x 40x 2,5 1,28 94078 53,43 68,3960x 60 x3,0 1,85 30913 53,43 98,8570x 70x 2,0 1,47 22010 53,43 78,5480x 40x 2,5 1,55 47290 53,43 82,8280x 40x 3,0 1,85 85308 53,43 98,8580x 80 x3,0 2,49 53901 53,43 133,04

100x 40x 2,5 1,82 19904 53,43 97,24100x 50x 3,0 2,33 58119 53,43 124,49

100x 2x 18,5x2,5 1,32 60518 53,43 70,53120x 40x 2,5 2,09 18029 53,43 111,67150x 50x 3,0 3,14 82224 53,43 167,77

Längder: obehandlade 6 m, naturanodiserade 5-6 m.Utan 3.1-certifikat.

Aluminium - Profiler - Rör, fyrkantiga

Skapad 2010-10-12 17 Aluminium - Profiler - Rör, fyrkantiga

robot gripper design

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