Accuracy Examination of a Flexible Pin Gripper for Forging Applications

Abstract

Nowadays, cost reduction in manufacturing is getting relevant. One aspect to achieve that is utilising universal handling systems and their ability to adapt to changing objects and various geometries. By that, they minimise the number of handling systems and set-up times whereby cost savings are realised. In the field of forging, the objects vary their shape several times during the manufacturing process. In addition, the temperature can rise up to 1200 $${}^{\circ }\text {C}$$ ∘ C during the different steps of the forging process. Current flexible handling systems cannot handle those temperatures. The main reason for that is the material they consist of, primarily elastic polymers. Hence, there is a need for a handling system to close the gap between form flexible and high temperature handling. For this purpose, we developed such a handling system in our previous work, consisting of two jaws with pins in a matrix arrangement. Each pin can move in the longitudinal direction and adapt to different shapes. In response to the current temperatures for the pins, a material is used that withstands high temperatures. This paper presents the actuation and control of the developed handling system. The system is actuated by pressurised air which is continuously controlled to counteract the thermal expansion of the air caused by the high temperatures. Therefore, we integrate intelligent valves to fulfil the automation and control. Finally, we evaluate the accuracy of our system and optimise the valve control.