AGM-W
Function
Diagrama seccional
Diagrama seccional
O AGM-W permite a compensação angular nos eixos x e y. A cinemática angular patenteada permite a adaptação a componentes dispostos de diferentes formas, garantindo sua fixação segura. O pistão de bloqueio garante o bloqueio central da unidade e que ela permaneça travada no lugar. O pistão de controle, por sua vez, pode ser utilizado para compensação de peso em diferentes posições espaciais.
O design modular e compacto permite a combinação com outras unidades AGM. As posições bloqueada e desbloqueada são monitoradas por sensores de proximidade magnéticos ou indutivos.
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Padrão de montagem ISO
no lado do robô e da ferramenta, para fácil montagem na maioria dos tipos de robôs sem a necessidade de uma placa adaptadora adicional - 2
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Bloqueio do pistão
Fabricado em alumínio de alta resistência para travamento pneumático de ação simples em posição central. Para movimentar o dispositivo durante o processo, recomendamos aplicar pressão no pistão de travamento e no pistão de controle. - 3
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Pistão de controle
Fabricado em aço temperado, oferece ajuste contínuo para um funcionamento suave. Para compensação em posições horizontais e inclinadas, recomendamos o acionamento do pistão de controle para compensação de peso. - 4
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Cinemática angular patenteada
permite compensação nos eixos X e Y - 5
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Ranhura de monitoramento
para monitorar a posição bloqueada
Workpiece removal (vertical, hanging): AGM unlocked – gripper inactive
AGM unlocked – gripper active
AGM locked – gripper active
AGM locked – gripper active
For comparison: AGM-WZ angle compensation unlocked – gripper active
AGM unlocked – gripper active
Combined units AGM-XYZ and AGM-WZ
Workpiece removal (vertical, hanging): AGM unlocked – gripper inactive
The robot approaches the angled workpieces, which are arranged differently due to inaccuracies, with the gripper and the unlocked, combined compensation unit (AGM-WZ).
AGM unlocked – gripper active
The unlocked AGM-WZ can compensate for the different angles and heights of the workpieces, so the gripper can be positioned precisely on them and reliable removal is ensured.
AGM locked – gripper active
The robot picks up the workpiece and moves up.
AGM locked – gripper active
The robot moves to the deposit position with the gripped workpiece and the combined compensation unit (AGM-WZ). The Z-axis stroke of the Z unit is retracted and the angle unit is locked. This means that both the locking piston and the control piston (via air connections A and B) are pressurized with compressed air.
Due to tolerances or inaccuracies, there is an axis misalignment between the robot and the joining station.
For comparison: AGM-WZ angle compensation unlocked – gripper active
If the locking piston (A) and control piston (B) are not actuated, the AGM is not stabilized against its own weight and cannot perform angular compensation from the neutral middle position. It tilts downward due to its weight and gravity.
The Z-axis stroke of the Z unit remains retracted.
AGM unlocked – gripper active
To join the workpiece, depressurize the Z-unit and unlock the locking piston of the angle-unit (air connection A depressurized). Keep the control piston (B) of the angle unit pressurized with compressed air so that the unlocked AGM is held stable against gravity and does not tilt under its own weight.
Combined units AGM-XYZ and AGM-WZ
The AGM-XYZ and AGM-WZ compensation units from SCHUNK combine several compensation paths in one compact component.
Both units are pre-assembled and available with their own ID as a standard solution. Thanks to the compact design of the combined units, you benefit from significant savings in structural height and inherent weight compared to individual, stacked compensation units. This saves space, reduces the load on the robot and end effector, and ensures efficient implementation of your processes.
Application example
Application example
During bin picking, it is possible to compensate for inaccuracies thanks to the angular compensation, which enables the effective removal of differently arranged components.
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Compensation unit AGM-W
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Magnetic gripper EMH
