Picker & Gripper Design Guide WP1
42Pages

ENGINEERING MANUAL & DESIGN GUIDE World's Number 1 ggjj FIRESTONE INDUSTRIAL PRODUCTS COMPANY

Body. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Rubber Bladder Material. . . . . . . . . . . . . . . . . . 14 Fabric Reinforcement. . . . . . . . . . . . . . . . . . . . . 14 Conform To Any Shape. . . . . . . . . . . . . . . . . . . . Multiple Sizes Handled with One End Effector Delicate Handling. . . . . . . . . . . . . . . . . . . . . . . . . Wide Size Range. . . . . . . . . . . . . . . . . . . . . . . . . High Load Capacity. . . . . . . . . . . . . . . . . . . . . . . Non-marring Contact. . . . . . . . . . . . . . . . . . . . . . No Lubrication Required. . . ....

T he products of years of development, AirPicker™ and AirGripper™ end-effectors combine pneumatic pressure control with the physical attributes of rubber. The result is an innovation that can give robotics or mechanical handling systems an important degree of touch and allow products to be handled securely and gently. The AirPicker™ endeffector is inserted into a product while deflated, then inflates outwardly to “hold onto” the product’s interior walls. The AirGripper™ end-effector collars around the product, then the sleeve inflates inwardly to form a grip around the product’s exterior....

Conform to Any Shape The inflatable rubber construction of AirPicker™ and AirGripper™ end-effectors allows a multiple number of shapes to be handled with one model. Multiple Sizes Handled with One Gripper The large expansion of Firestone end-effectors allows for multiple part sizes to be handled with just one size model. The diameter of an AirPicker™ end-effector can grow by as much as 1.86 times the deflated diameter, while an AirGripper™ end-effector can grip around an object that is only 40% of the deflated diameter. Delicate Handling By controlling the amount of pressure within the...

Maximum Recommended Working Pressure Contact Surface P010 – 025 with standard radial fabric P reinforced neoprene 70PSI The preferred contact surface for AirPicker™ and AirGripper™ end-effectors is smooth and dry. A dry surface is preferred to optimize the load carrying capacity of end-effectors. Wet surfaces will decrease the grip that an end-effector has on a handled object. A smooth surface is preferred to avoid abrasion. Threads, burrs, or sharp contact areas will hasten wear and decrease the useful life of the rubber bladder. Protective neoprene sleeves for AirPicker™ end-effectors are...

Unrestricted Inflation Repeated unrestricted inflation will prematurely damage a Firestone end effector. The cycle life of an unrestricted Firestone end-effector can be as low as 1000 cycles. Because of the decreased durability of an unrestricted bladder, the maximum recommended pressure for unrestricted inflation drops to half of the maximum recommended pressure for restricted inflation. If the application requires unrestricted inflation, a protective rubber sleeve or a casing surrounding the bladder is recommended. The sleeve or casing will reduce the amount of strain on the rubber...

Acetic Acid, 5% Acetic Acid, 30% Acetic Anhydride Aero Lubriplate Alum-NH3CrK Aluminum Brimide Aluminum Chloride Aluminum Fluoride Aluminum Nitrate Aluminum Phosphate Aluminum Salts Aluminum Sulfate Ammonia Anhydrous Ammonia Gas, Cold Ammonia Gas, Hot Ammonium Carbonate Ammonium Chloride Ammonium Hydroxide (Concentrated) Ammonium Nitrite Ammonium Persulfate Solutions Ammonium Persulfate 10% Ammonium Phosphate Ammonium Phosphate Mono-Basic Ammonium Phosphate Dibasic Ammonium Phosphate Tribasic Ammonium Salts Ammonium Sulfate Ammonium Sulfide Amyl Alcohol Amyl Borate Anhydrous Ammonia Aroclor...

c h e m ical co m patibilit y c h art continued Formic Acid Freon 12 Freon 13 Freon 13B1 Freon 14 Freon 22 Freon 31 Freon 32 Freon 113 Freon 114 Freon 114B2 Freon 115 Freon 142B Freon 152a Freon 218 Freon C316 Freon C318 Freon 502 Freon TF Freon TA Freon TC Freon T-P35 Freon PCA Fuel Oil, Acidic Fuel Oil, #6 Fyrquel 90, 100, 150, 220, 300, 500 Gelatin Glucose Glycerine-Glycerol Glycols Green Sulphate Liquor Gulf FRG-Fluids Gulf FRP-Fluids Hannifin Lube A Heavy Water Hellum N-Hexaldehyde High Viscosity Lube, U4 High Viscosity Lube, H2 Hydrogen Gas, Cold Hydrogen Gas, Hot Hydrogen Peroxide...

c h e m ical co m patibilit y c h art continued Sodium Bicarbonate (Baking Soda) Sodium Bisulfite Sodium Borate Sodium Carbonate Sodium Chloride Sodium Cyanide Sodium Phosphate (Mono) Sodium Phosphate (Tribasic) Sodium Salts Sodium Silicate Sodium Sulphate Sodium Sulphide Sodium Sulfite Sodium Thiosulfate Soybean Oil Spry Stannous Chloride Sucrose Solutions Sulfur Sulfur Hexafluoride Neoprene Silicone TT-S-735, Type IV Tannic Acid 10% Tartaric Acid Triethanol Amine Ucon Lubricant LB-65 Ucon Lubricant LB-135 Ucon Lubricant LB-285 Ucon Lubricant LB-300 Ucon Lubricant LB-625 Ucon Lubricant...

perfor m ance c h aracteristics The amount of load an end-effector can handle is a function of pressure, contact area, and coefficient of friction. This function equals the frictional force. = Frictional Force = Pressure = Contact Area = Coefficient of friction The friction between the object and the picker is what allows the object to be held. Frictional force is equal to the load capacity of the picker. Increases in the pressure, contact area, or static coefficient of friction results in a greater load carrying capacity. This function leads to advantages as well as precautions with...

perfor m ance c h aracteristics continued AirGripper™ end-effector Life The coefficient of friction between two materials is determined with empirical data. The greater the coefficient, the more gripping force the endeffector will have. For example, the static coefficient of a rubber tire on dry asphalt is 0.71. The static coefficient of friction drops to 0.17 – 0.06 on wet, slippery roads. After the rubber begins to slip at the contact point, the static coefficient becomes the sliding coefficient of friction. The sliding coefficient is a lower value than the static. For example, the...