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Robohammer - a robot tool for high forces

: Warnecke, H.-J.; Schweizer, M.; Würtz, G.

Singapore Industrial Automation Association -SIAA-:
IA '92. Proceedings of 2nd Asia-Pacific Industrial Automation Conference
Singapore, 1992
Asia-Pacific Industrial Automation Conference <2, 1992, Stuttgart>
Conference Paper
Fraunhofer IPA ()
Einpressen; industrial robot; Industrieroboter; pressing; robohammer

Second to screwing, the "pressing-in" joining technique is the most used in industrial practice. For flexible automation with the aid of an industrial robot, two major problems need to be solved: generation and support of high forces and compensation of positioning tolerances at oversize between assembly component and basic component. The industrial robot tool developed fulfils these requirements by way of a pneumatic impact hammer for force generation and a passive tolerance compensation module to compensate positioning tolerances. The special characteristics of the intermittent jointing process together with its effects on vibration stresses on the industrial robot or, respectively, the process control, will be discussed and the modules developed for this purpose presented.