Tham khảo tài liệu 'grippers in motion - the fascination of automated handling tasks - wolf part 9', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Getting To Grips With Handling Tasks 3 measuring the piston position by magnetic sensors in the For workpieces with especially great tolerances two sensors can be used to limit the space for gripping. The first sensor measures the operating elements entering this space while the gripper is being closed. While crossing the sensor a hank is measured. If the second sensor at the end of the gripping task area does not receive any signal it can be assumed that the workpiece has been picked up. If the second sensor is activated at the end of the gripping tolerance the pick operation has failed. Hall effect sensors which are activated by magnets can be used for a broad range of applications as well. A magnet which is fitted to the piston of a pneumatic cylinder activates the sensor. Thus more than two switching points are available because the sensors can be fitted to the drive cylinder over the entire length of the piston movement. tongue gripper with display for measuring DMS strain gauge bridge as measuring adapter Figure Force measuring adapter monitoring gripping forces at the gripper Angers 162 Measuring sensors are normally used for measuring workpieces for positioning the gripper stroke or for controlling the gripping force. These measuring tasks may be of interest for pick- and place operations as well as for workpiece transport. In addition sensors can be fitted to the gripper flange for the moving unit see Chapter 4 . The gripper fingers can be utilized as sensors for force induction by adhesive sensors which are fitted to the gripper fingers. This so-called force measuring adapter can record and analyze gripping forces with the help of a DMS strain gauge bridge. The force measuring bridge is mounted between finger and gripper kinematics for this purpose. The result of this tactile measuring sensors is a so-called dynamic force measurement parallel to the gripping process. This measurement is visualized by a software which directly converts it into a .
