2 FlexGripper-Vacuum2.2.1. General233HAC040633-002 Revision: -2.2 Mechanical structure & working principle2.2.1. GeneralThe FlexGripper-Vacuum (see Figure 2.1) consists of two main components: the vacuum railsand the pallet hook. The vacuum rails are for picking up products and the pallet hook is usedfor lifting pallets.The whole FlexGripper is connected to the robot manipulator by a flange.en1011008Figure 2.1 FlexGripper-VacuumPos Part DescriptionA Valve unit The compressed air inlet and outlet, controlling theair to the vacuum unit on the FlexGripper.B Flange Connects the FlexGripper to the robot wrist.C Cylinders of hookD Terminal box Signals connections for the FlexGripper.E Pallet hook Lifts the palletsF Search cylinderG Vacuum rails Picks up the productsH Beam plate Two plates, close to the vacuum cups
