By Timothy Thatcher, Production Manager
SAS Automation LLC

Today’s robotic work cells are increasingly becoming more complex. From de-molding to assembly and packaging, the robot is being asked to do more—and much of this falls on the end-of-arm tooling (also called EOAT or end effecter). When your tool needs to perform several operations, a well-engineered custom tool has the ability to increase functionality and repeatability as well as allow for a higher percentage of automation function within the cell—when planned accordingly.

EOAT Starting Points
The initial question that needs to be asked: What primary functions does the EOAT need to perform and are there desired secondary functions. Technology is changing rapidly and having a tool capable of performing several functions is becoming increasingly important.

EOAT & Automation Considerations
First, carefully define the primary functions you would like from your tool, such as gripping, labeling, assembly and the sequence of operations for the tool. Then, give thought to additional features that may be desired to see if they too can be added to the tool’s functionality. Features such as degating, inspecting and packing often fall into this category. Understanding your robot’s capabilities and payload requirements is important to the design and weight of your EOAT. Along with payload, pneumatic air and vacuum circuits, electrical interface (inputs/outputs), acceleration, and reach are also important to the EOAT. You must know your part’s weight and size, tolerance, cycle times, and if the EOAT needs to dock with other equipment. Robotic cells are often used for more than one project, and therefore, need to be designed to facilitate rapid tool changes. In plastics operations, robot-to-press and robot-to-EOAT interfacing needs to be defined. Additional consideration, for any work cell, must be given to the amount of automation needed, floor plan availability, and packing and palletizing requirements.

EOAT Technology Considerations
Tools that handle multiple parts, perform several operations, or manipulate difficult to hold parts require a custom tool. There are a wide variety of tooling options designed specifically to add EOAT functionality to achieve the goal of reducing operator time, operator error, secondary operations, multiple tools, or even a robot.

Sensors
Smart technologies including vision and position sensors can be used for part confirmation. They can detect whether a part is made correctly or can detect if your automation equipment has successfully completed its task.

RFID
Robotic EOAT with RFID tags automatically ensure the correct tooling is operating with the corresponding robot and confirms the rest of the critical equipment is installed – including the correct die or mold in stamping, plastics or packaging operations. RFID is low cost insurance against robot, tooling and part damage due to system crashes because it quickly ensures the correct equipment is in place and ideal for robotic cells that are used for multiple projects.

Programmable EOAT
A programmable EOAT system can eliminate the need for multiple EOAT and tool changes and is ideal for complex work cells. For example, if four separate parts are picked up at one time, the programmable EOAT will allow for sequencing and re-positioning of the parts before releasing them.

Vacuum or Pneumatic
Vacuum tools (venturi generators or vacuum pumps) using cups and spring arms are often used to move cartons of the same size. Whereas, pneumatic stroking jaws are more often used to grip several cases as well as pick pallets. Hard-to-pick bags that cannot be handled securely with vacuum, benefit from pivoting fingers.

Custom tools are extremely useful in packaging and palletizing applications due to the number of operations required, such as, securing unsealed boxes, securing the pallet, palletizing the cases with restrictions on spacing, all to ensure that fragile cases are not crushed.

Communicating everything your EOAT needs to manage to your tooling engineer (including goals for increased production and decreased operator workload) will ensure a consistent, reliable, and productive multi-functioning EOAT.

Robert Dalton, General Manager
SAS Automation, LLC - USA
1200 S. Patton St.
Xenia, OH 45385
Tel: 1-937-372-5255
Toll Free: 888-SAS-EOAT (888-727-3628)
Email: getagrip@sasgripper.com
Web: www.sasgripper.com

SAS Automation Robotergreifsysteme GmbH – Europe
Im Schlehert 26
D-76187 Karlsruhe, Germany
Tel: +49 (0)721 26306 - 0
Email: info@sas-automation.com
Web: www.sas-automation.com