Gripper Mechanical Setup - Flowline Mk3 Toothed Gripper

How to set up a gripper on a Flowline Mk3 with a Toothed Gripper

Gripper, Grip Lock Gripper_Mechanical_Setup_-_Flowline_Mk3_Toothed_Gripper_R0015147B.jpg

Mechanical Setup

This gripper design has two gripper switch inputs. This design was implemented to ensure the system can load a bar with an uneven or angled cut on the end. The sensors are activated by a long stroke on a spring, which has at least 10mm range of movement.

Gripper sensors

Sensor	Function
Grip Min	Senses that a profile is gripped in the jaws. It should be active just after the spring is depressed
Grip Max	Activates when profile hits "end stop" of gripper mechanism whn loading. This ensures a reliable datum point. It should be active when the spring is fully depressed

Software Process on Machining Centre side

Step	Action	Notes
1	Move to loadingpos plus 5mm
2	Wait for gripper max input	(completely bottom out gripper)
3	Wait for gripper to be within 0.25mm of expected position and 100ms to pass (to allow system to settle)
4	Clutch and material load motor off
5	Move to loadingpos	Pushes profile back to
6	Clutch on	holds profile steady
7	Wait for trim Pause
8	Move x axis to loadingpos+200mm	Clear of tooling head
9	Run datum hole routine
10	Move to loadingpos
11	Grip
12	Wait for grip on time
13	Check that grip min switch is active	Ensure the bar is gripped
14	Grip lock on	Locks the gripper in its current position so it does not force the profile to "wheelie"

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Draft