AGM-W
Fonction
断面図
断面図
AGM-W は、X軸とY軸の角度補正が可能です。特許取得済みの角度キネマティクスにより、異なる配置のワークに適応し、確実に把持することができます。ロッキングピストンは、ユニットのセンターロックを確実にし、所定の位置に固定します。一方、制御ピストンは、さまざまな空間位置での重量補正に使用することができます。
モジュール式でコンパクトな設計のため、他のAGMユニットとの組み合わせが可能です。ロック位置およびロック解除位置は、マグネットスイッチまたは近接センサーによって監視されます。
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ISO mounting pattern
on the robot and tool side, for easy mounting on most types of robots without needing an additional adapter plate - 2
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Locking piston
made of high-strength aluminum for pneumatically actuated, single-acting locking in a centric position. For moving during the process, we recommend applying pressure to the locking piston and the control piston. - 3
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Control piston
made of hardened steel offers continuous adjustability of smooth running. For compensation in horizontal and inclined positions, we recommend actuation of the control piston for weight compensation. - 4
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Patented angular kinematics
enables compensation in X and Y-axis - 5
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Monitoring groove
for monitoring the locked position
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
