The SCAPE system includes a “Tool Unit” which is the unit at the end of the robot arm. Multiple grippers can be mounted on it in a modular way, so one can configure the unit with the number and type of grippers needed for the specific installation. It is often necessary to use more than one gripper in a bin-picking installation (different parts in different bins and/or specialized grippers for high-precision grips after Orientation Control).
TU10-11/12
SCAPE Tool Unit - Compact
- Optimized design for small robots. Especially suited for bin-picking in small bins.
- Optional a SCAPE Grid Scanner Compact can be mounted.
- Max. total grippers mounted at the same time can be 2 (left in figure) or 4 (right in figure).
- Max. sliders stroke: 100 mm (on which grippers are mounted).
- Designed for parts with a weight up to 0.8 kg.
- Typically used for robots with a payload between 5-10 kg.
- Includes adapter plate for the robot on which it will be mounted.
- Includes one or two passive I/O modules (depending on number of grippers).
- Includes energy chain end-bracket.
TU20-01
SCAPE Tool Unit - Standard
- Suited for bin-picking a wide range of parts in automotive and general industry.
- Optional a SCAPE Grid Scanner Recognition™ (OP13-06) can be mounted.
- Up to 5 sliders with grippers can be mounted at the same time.
- Max. sliders stroke: 160 mm (on which grippers are mounted).
- Designed for parts with a weight up to 3 kg.
- Includes adapter plate to the robot on which it will be mounted.
- Includes one or two passive I/O modules (depending on number of grippers).
- Includes energy chain end-bracket.
TU30-01
SCAPE Tool Unit - Large
- Designed for bin-picking large parts.
- Optional a SCAPE Grid Scanner Recognition™ (OP13-06) can be mounted.
- Up to 5 sliders with grippers can be mounted at the same time.
- Max. sliders stroke: 200 mm (on which grippers are mounted).
- Designed for parts with a weight up to 18 kg.
- Includes adapter plate to the robot on which it will be mounted.
- Includes one or two passive I/O modules (depending on number of grippers).
- Includes energy chain end-bracket.
TA11-01/03/11/13/14/16/21/23/24/26
SCAPE Grippers
- TA11-01/11/21 are suction cups (different sizes available) for SCAPE Tool Unit (TU10/TU20)
- TA11- 03/13/14/23/24 are finger grippers (different actuators available with forces in the range 45N to 2700N) for SCAPE Tool Unit (TU10/TU20/TU30)
- TA11-16/26 are magnet grippers for SCAPE Tool Unit (TU20/TU30)
- All suction cups/finger grippers/ magnets are mounted on sliders.
Purpose of sliders:
- Controlled handling of rare collisions (includes collisions sensor) with parts so system can continue without any interruption.
- Moving active gripper forward so multiple grippers on the robot can be used at the same time.