Superior Clamping and Gripping. Mobile Gripping Systems. Tomorrow starts Today

Transcription

1 Superior Clamping and Gripping Mobile Gripping Systems Tomorrow starts Today

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3 Henrik A. Schunk, Kristina I. Schunk and Heinz-Dieter Schunk Top Performance in the Team SCHUNK is the world s No. 1 for clamping technology and gripping systems from the smallest parallel gripper to the largest chuck jaw program. In order to boost efficiency, SCHUNK customers have bought more than precision toolholders, gripping modules, and lathe chucks and stationary workholding systems so far. This makes us proud and motivates us to attain new top performances. As a competence leader, we recognize and develop standards with a large potential for the future, which will drive the rapid progress in many industries. Our customers profit from the expert knowledge, the experience and the team spirit of more than 2000 employees on our innovative family-owned company. The Schunk family wishes you improved end results with our quality products. Heinz-Dieter Schunk Henrik A. Schunk Kristina I. Schunk

4 PowerCube PR PowerCube PW SDH 1. Expert Days Robot walker PowerCube PG Lightweight arm LWA 2 Lightweight modules PRL Lightweight arm LWA 3 Mobile production assistant with Powerball lightweight Arm LWA 4P 4

5 Care-O-bot 3 Electric gripper PG-plus Lightweight modules PRL-plus finger hand product study, close to series production Powerball Lightweight Arm LWA 4P SCHUNK is shaping the future of service robotics through the continuous development and production of standardized components for humans and robots to cooperate with one another. At SCHUNK, ground-breaking Mobile Gripping Systems have always been part of everyday work More than 1500 lightweight arms installed, more than swivel and gripping modules, more than 300 customers all over the world and more than 16 years of mechatronics experience make SCHUNK one of the most important developers and vendors of mobile gripping systems for an extremely wide range of applications. On the economic side of things, service robotics is becoming increasingly dynamic. Our mechatronic grippers, gripping hands, rotary modules, lightweight arms and our modular system already set the standards today. Whether in the professional or private environment SCHUNK is driving development. Proactive, as a partner, and within a network. As a pioneer, we are continuously redefining the feasibility limits of industrial reality. With unique products and developments, we are characterizing the functions of inspection systems, applications on mobile platforms and human/ machine interactions in the area of robotics. From our perspective, the interplay between humans and robots shows a development from in succession in the past, through in parallel at the present to in unison in the future. Against this backdrop, we are currently developing our solutions for tomorrow's mobile gripping systems. 5

6 Sample Applications of Mobile Gripping Systems in Service Robotics Research The Fraunhofer Institute for Production Technology and Automation IPA in Stuttgart is a pioneer in service robotics. The Care-O-bot 3 flagship project needed a light and agile manipulator with a gripping hand to form the basis for researching future applications. For this purpose, the IPA installed the SCHUNK high-performance lightweight arm based on PRL modules with light cast connections and the SCHUNK gripping hand SDH-2 with tactile sensors in its Care-O-bot 3. The design is ideal for mobile use and fulfills all the requirements in within minimal space Domestic care The care sector is also increasingly using the advantages of mobile gripping systems in order to allow that people can continue to live independently within their own four walls as long as possible. The potential of human/robot collaboration in this area ranges from domestic care and rehabilitation applications through to prostheses and orthoses which are becoming more and more effective. Even here, components from SCHUNK are also playing a decisive role at the cutting edge of development. One example of this is the FRIEND, a service robot developed for people with paraplegia by researchers at the University of Bremen; this relies on the high qualities of the LWA 4D with 7 degrees of freedom and the 3-finger industrial hand SDH-2. Quality assurance Cement needs very precise characteristics, depending on the specification. For this purpose, the Plant Construction Division of ThyssenKrupp AG has equipped a fully automated laboratory with a highly flexible handling device. For example, the SCHUNK 5-axis lightweight arm with PRL modules and mechatronic PG 70 gripper. This handles the sensitive cement samples fully automatically. The robot is mounted on a mobile, battery-operated carrier system and moves to the various stations in this way. The solution enables exceptionally low-cost and modularly expandable quality control. The special feature: humans and robots share the working area in the cement laboratory. 6

7 Exploration All over the world, old military ordnance endangers the lives of people and animals. The remote-controlled EOD robot developed by the Harris company for the US military makes it possible to safely remove explosive weapons without risking life and limb. The manipulators used here have to be sturdy, highly flexible and very sensitive. Therefore, the modular lightweight arm with 6 degrees of freedom from SCHUNK based on PRL rotary modules and sensitive PG grippers was integrated into Harris' EOD robots. Laboratory use Whether at ThyssenKrupp in Beckum, at Geo++ in Garbsen or Bayer in Morristown, New Jersey, mobile gripping system components from SCHUNK are used all over the world in highly specialized measuring robots, in laboratory automation and in clean room robots for tasks which demand absolute precision and repeat accuracy combined with high safety requirements. Logistics In the logistics sector, a close relationship between the individual processes represents the ideal starting point for exploiting optimization potential. With perfectly coordinated components from the modular system, mobile gripping systems from SCHUNK offer made-to-measure and extremely efficient solutions for automated warehouse logistics and goods packaging; examples of these are the warehouse robots that have proven themselves in practice at STILL in Hamburg and Siemens in Stuttgart. Inspection service At the nuclear power station inspection service provider, Areva indt, in Erlangen, an increased temperature range is just as much part of the everyday working environment as radioactivity. Here, the SCHUNK component gripping system used in Areva indt robots does all the work when inspecting welds and pipe connections. Non-destructive material inspection is performed with the highest reliability, accuracy and availability as well as under the most extreme conditions, in order to ensure plant safety. 7

8 SDH servo-electric 3-Finger Gripping Hand Taking the human hand as its model The SDH multi-jointed 3-finger gripping hand masters form-fit and force-fit gripping of an extremely wide range of objects, which means it can be used both in service robotics as well as in industrial applications. Two fingers can change their orientation, making the SDH suitable for an extremely wide variety of gripping scenarios, and characterizing it by high flexibility with regard to shape, size and orientation of the objects to be gripped. Pressure and surface recognition is accomplished by an optional tactile sensor system. This means it is possible to detect during the gripping procedure whether the object has been optimally gripped or if a correction is required. The high maximum gripping force, similar to that of the human hand, can be sensitively monitored and controlled using the integrated sensors. MM Award 2012 Central grip Central grip Cylindrical grip Precision grip 8

9 SDH servo-electric 3-Finger Gripping Hand Technical data Designation SDH ID Overall length [mm] 253 Angular velocity max. [ /s] 210 Finger length [mm] 155 Torque (proximal joint) [Nm] 2.1 Finger spacing [mm] 66 Torque (distal joint) [Nm] 1.4 Relationship to human hand 1.4 : 1 Resolution [ ] Number of fingers 3 Weight [kg] 1.95 Degrees of freedom 7 IP class [IP] 54 Degrees of freedom per finger 2 Power supply [V DC] 24 Degrees of freedom 2-finger rotation 1 Rated current [A] 2 Absolute encoder 7 Max. current when gripping [A] 5 Tactile sensor matrices 6 Interface CAN RS232 Integrated control unit in the wrist Tactile sensor matrices in each finger phalanx 9

10 2-Finger Parallel Gripper WSG Simplest configuration flexible control Sensitive handling configured in 2 minutes. The WSG is a sensitive gripper that communicates via CAN or Ethernet TCP/IP. At the same time, it has an integrated web server for configuration and diagnosis. That makes programming, putting it into operation, remote maintenance and its provision with updates extremely simple. The communication protocols and the integrated control and regulation electronics ensure maximum flexibility when integrated into higher-order systems. The gripper is equipped with an internal Micro-SD card for saving programs and documents. As a result, the settings of a gripper can be replicated quickly and easily, and transferred to any number of modules. 2-Finger Parallel Gripper WSG 050 With its electronics integrated in the claw jaws, the WSG is able to measure the forces that occur during gripping by means of sensors. As a result, an extremely wide range of workpieces, including sensitive ones, can be safely and reliably handled with one gripper. Technical data Figure with optimized centering sleeve in the base jaw Designation ID Stroke per finger [mm] 55 Min./max. gripping force [N] 5 / 120 Nominal force [N] 80 Recommended workpiece weight [kg] 0.8 Max. permissible finger length 170 (at nominal force) [mm] Repeat accuracy [mm] ±0.013 Max. speed [mm/s] 420 Max. acceleration [mm/s²] 5000 WSG (incl. FWA 115 and measuring finger) Weight [kg] 1.2 IP class [IP] 20 Max./max. ambient temperature [ C] 5 / 50 Power supply [V DC] 24 Rated current [A] 0.9 Max. total current [A] 1.5 Parameterization interface CAN / Ethernet Field bus interface CAN / Ethernet 10

11 2-Finger Parallel Gripper PG-plus 70 Universal applicability and sensitive gripping force control The PG-plus 70 is a servo-electric 2-finger parallel gripper with sensitive grip force control and a large stroke. It is universally applicable, highly flexible with a wide variety of parts, and suitable for sensitive components in a clean working environment. The control, regulating, and power electronics are completely integrated. The PG-plus 70 is also available in a dust-protected variant. 2-Finger Parallel Gripper PG-plus 70 In application on page 12 and Ø6 2-Finger Parallel Gripper PG-plus 70 in dust-protected version 45 Technical data 80 Ø4 Ø5.7 (8x) ± ± M4 (4x) Ø Ø Ø Ø5.7 (8x) Ø65 20± ± M4 (4x) Designation PG-plus 70 ID Designation PG-plus 70 in dust-protected version ID Ø65 Stroke per finger [mm] Min./max. gripping force [N] / 200 Weight [kg] IP class [IP] Nominal force [N] 160 Max./max. ambient temperature [ C] 5 / 55 Recommended workpiece weight [kg] 1.0 Power supply [V DC] 24 Max. permissible finger length (at nominal force) [mm] 140 Rated current [A] 1.4 Repeat accuracy [mm] ±0.05 Max. total current [A] 1.8 Max. speed [mm/s] 82 Parameterization interface CAN / USB Max. acceleration [mm/s²] 328 Field bus interface CANOpen DS

12 Powerball Lightweight Arm LWA 4P The lightweight arm with the world's best compact performance The most compact, powerful lightweight arm in the world with three highly-integrated Powerball modules offers 6 degrees of freedom. Integrated intelligence makes powerful, mobile handling possible as never before. Combining it with the SDH 3-finger hand from SCHUNK not only increases the number of degrees of freedom by a further 7, but also permits typical tasks to be accomplished flexibly in the area of service robotics seamlessly integrated, without external cabling. Suitable for mobile applications low energy use at 24 Volt DC High torque, speed, and repeat accuracy for quick acceleration, short cycle times and high process stability Complete integration of control unit and power electronics allows use without cabinet Compact quick change-system for easy and quick assembly of grippers and tools Internal cable feed-though with free lines expandable without cables in the way High power density and extremely compact Lightweight construction and new design provide for a weight/payload ratio of 2:1 Flat Change System FWS 115 Page 17 MM Award Finger Parallel Gripper PG-plus 70 Page 11 Powerball ERB 1 2 Electric control system Encoder Drive Harmonic Drive gear Holding brake Hollow shaft for internal cabling 12

13 Powerball Lightweight Arm LWA 4P Technical data Working space (Top view) Working space (Right side) Robot foot Designation LWA 4P ID Type Number of axes 6 6 DOF lightweight robot Max. useful load [kg] 6 Repeat accuracy [mm] ±0.15 Position feedback Pseudo-absolute position measurement Drives Pan-tilt unit flange Brushless servomotors with permanentmagnet brake Flat tool changer with free lines and power supply Installation direction User-defined Weight [kg] 12.5 IP class [IP] 40 Power supply 24 V DC / avg. 3 A / max. 14 A Interface CANopen (CiA DS402:IEC ) Axis data Axes Speed with nominal load Area Axis 1 72 /s ±170 Axis 2 72 /s ±170 Axis 3 72 /s ±155.5 Axis 4 72 /s ±170 Axis 5 72 /s ±170 Axis 6 72 /s ±170 Accessories Gripper WSG 50, PG-plus 70, MEG, SDH 2 Changer FWS 115 Robot control system ROS node (ROS.org) oder KEBA CP 242/A (KEBA.com) 13

14 Dextrous Lightweight Arm LWA 4D Proven thousands of times over Mechatronic modules from SCHUNK are perfectly suited for use in service robotics. The LWA 4D with modules from the unique SCHUNK modular system is used as a mine detector and in the area of modern rehabilitation systems, for example, and is integrated as a standard component in service robots worldwide. The application range of the LWA 4D is rounded off perfectly in combination with the sensitive gripping systems from SCHUNK. Flat Change System FWS 115 Page 17 2-Finger Parallel Gripper PG-plus 70 Page 11 14

15 Dextrous Lightweight Arm LWA 4D Technical data Front view Side view Robot foot Designation LWA 4D ID Type Number of axes 7 7 DOF lightweight robot Max. useful load [kg] 10 Repeat accuracy [mm] ±0.15 Position feedback Pseudo-absolute position measurement Drives Brushless servomotors with permanent magnet brake Pan-tilt unit flange Flat tool changer with free lines and power Installation direction User-defined Weight [kg] 17.5 IP class [IP] 54 Power supply 24 V DC / avg. 5 A / max. 14 A Interface CANopen (CiA DS402:IEC ) Axis data Axes Speed with nominal load Area Axis 1 40 /s ±180 Axis 2 40 /s ±123 Axis 3 40 /s ±180 Axis 4 40 /s ±125 Axis 5 40 /s ±180 Axis 6 72 /s ±170 Axis 7 72 /s ±170 Accessories Gripper WSG 50, PG-plus 70, MEG, SDH 2 Changer FWS 115 Robot control system ROS Node (ros.org) 15

16 Force Torque Module FTM 115 With integrated measuring technology The Force Torque Module is a measuring system for all six degrees of freedom, and therefore it is possible to control and regulate the process forces in the robot. The FTM enables compliant behavior of a robot by limiting the maximum forces in the event of collision as well as compensation of displacements during grasping of objects. The integrated tool changer allows the module to be installed simply between the robot flange and end effector. The measuring electronic processor is integrated in the module. The measurement values can be interrogated via the CAN bus. F y F Z F x Technical data Designation FTM 115 ID Range of measurement F x, F y [N] ± 580 Range of measurement F z [N] ± 1160 Range of measurement M x, M y [Nm] ± 20 Range of measurement M z [Nm] ± 20 Resolution F x, F y [N] ± 1/4 Resolution F z [N] ± 1/4 Resolution M x, M y [Nm] ± 1/188 Resolution M z [Nm] ± 1/376 Weight [kg] 1.0 Power supply [V DC] 24 Field bus interface CAN 16

17 Flat Change System FWS 115 Flexible in use due to low height Adapter FWA 115 The changer has a small diameter and compact height of 15 mm, factors which make it outstandingly suited for exchanging different end effectors rapidly with just a few actions on the robot. It is suitable for the rapid, manual tool change due to its low weight and simple operation. The integrated adapter boards with spring-mounted gold contacts ensure that the power supply and signal lines are in perfect contact. M x M Z M y Flat Change System FWS 115 In application on page 12 and 14 Head FWK 115 Technical data Designation FWK 115 head ID Electrical feed-throughs 10 Max. torque load M x, M y [Nm] 40 Max. torque load M z [Nm] 100 Max. payload [kg] 10 Weight [kg] 0.2 Designation FWA 115 adapter ID Electrical feed-throughs 10 Max. torque load M x, M y [Nm] 40 Max. torque load M z [Nm] 100 Max. payload [kg] 10 Weight [kg]

18 Always at the end of February The world's leading Symposium for applied Service Robotics During the annual Expert Days, SCHUNK promotes the interdisciplinary exchange between its customers and robotics experts from all over the world to encourage the development of the sector as a whole, as well as achieving synergy effects in a targeted way. Every year, at the end of February, the participants in the world's leading information event for service robotics can look forward to a feast of high-quality speakers from all over the world who present the latest trends, cutting-edge research projects and promising business models. As a pioneer in service robotics and a leading expert for both clamping technology and gripping systems, SCHUNK develops standards with future potential. With the Expert Days, SCHUNK offers research industry and commerce specialists as well opportunity for an intensive exchange of ideas and a unique possibility to broaden their horizons. The event is always fully booked, and the enthusiastic response from the participants goes to show: SCHUNK is setting the trend for the future

19 Press Echo about Expert Days What Expert Days offers is a fantastic opportunity, briefly between Labor Day and Spring Break, to glimpse the future of robotics as it inexorably moves into a position of primacy, to immerse oneself in stunning new products coming to market, and to get face time with the people who are making some of it happen. 2013, Tom Green,

20 Discover the Potential of Mobile Gripping Systems. SCHUNK Mobile Greifsysteme GmbH Bahnhofstr D Lauffen/Neckar Tel Fax SCHUNK_HQ M-02/ SCHUNK GmbH & Co. KG