Gripper On The Agilus Robot - Bosch WS502 Instruction Manual

20/64 Bosch Rexroth AG
About this Product
Pneumatics
Occupied control
Collision avoidance

5.3.1 Gripper on the Agilus robot

The Agilus robot is equipped with a pneumatic gripper with sensory occupied
control. The pneumatic triggering of the gripper is made through the internal
Agilus pneumatic functions.
If a cube is picked up with the gripper, the occupied control sensor detects the
object. The gripper assignment is displayed on the hand control.
A mechanical coupling system with sensory position monitoring prevents the
gripper from being damaged in case of accidental collisions.
In the event of a collision, the collision clutch yields and releases out of the
coupling mount. The collision is detected by a position sensor and the system is
stopped. The signal tower flashes red and a message is displayed on the hand
control.
6
5
Abb. 5: Gripper Agilus robot
Sensor for "Collision clutch
1
engaged" signal
Collision clutch
2
Coupling mount with 4 spring-
3
loaded ball tensioners
Robotics Trainings System WS502
3
1
4
2
5
Pneumatic gripper with open/close
4
connections
Gripper jaws
5
Light sensor for "Gripper occupied"
6
signal
1