Product Information. Long-stroke gripper EGA

Transcription

1 Product Informaton EGA

2 EGA Flexble. Modular. Robust. EGA long-stroke grpper Electrc 2-fnger parallel grpper wth lghtweght profle ral gude and adaptable servo- motor Feld of applcaton Optmal standard soluton for applcatons wth large workpece geometres. Unversal applcaton n clean to slghtly drty envronments, e.g. n the machne and plant buldng ndustry, assembly, and handlng sectors as well as n the automotve ndustry. Advantages Your benefts Large moment payloads due to double profled ral gude sutable for usng long grpper fngers Extremely flat desgn for mnmal nterferng contours Adaptable drve motor for versatle approach and easy ntegraton nto exstng control concepts Poston and torque-controlled movement of the grpper For very flexble grppng of varous geometres and types of components Radal motor and parallel assembly for flexble adaptaton to gantres or robots Safety functons such as STO and SLS can be realzed by the use of a sutable drve motor and controller Szes Quantty: 2 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 EGA Functonal descrpton The adaptable servomotor drves the base jaw va the gear spndle mechansm. The jaw stroke s synchronzed by means of rack and pnon knematcs. EGA 1 Base Jaw for the connecton of workpece-specfc grpper fngers 2 Profled ral gude hghly loadable, nearly backlash-free base jaw gudance for long fnger lenghts 3 Specal gear drve For two dfferent motor attachment varants 4 Drve Adaptable drve motor 5 Housng wth extremely flat desgn for low nterferng contours CAD data, operatng manuals and other current product documents can be found onlne. 3

4 EGA General notes about the seres Operatng prncple: Spndle drve, synchronzed by rack and pnon prncple Housng materal: Alumnum alloy, coated Base jaw materal: hard-anodzed, hgh strength alumnum Actuaton: electrcally va an adaptable servo drve Warranty: 24 months Scope of delvery: Enclosed accessory pack wth centerng sleeve, assembly and operatng manual wth declaraton of ncorporaton. Dependng on the varant, operaton of the grpper requres a motor add-on kt, a servo motor, and a sutable controller. They are not ncluded n the scope of delvery and must be ordered separately. Grppng force: s the arthmetc total of the grppng force appled to each grpper jaw at dstance P (see llustraton). Fnger length: measured from the screw surface of the base jaw n the drecton of the man axs. Falure to comply wth the max. permssble fnger length wll result n ncreased wear. Repeat accuracy: s defned as the spread of the end poston durng 100 consecutve strokes. Workpece weght: s calculated for force-ft grppng wth a coeffcent of statc frcton of 0.1 and a safety factor of 2 aganst workpece slppage at acceleraton due to gravty g. For form-ft or capture grppng, there are sgnfcantly hgher permssble workpece weghts. Closng and openng tmes: When grppng, the speed must be adapted as descrbed n the operatng manual so that the closng and openng tmes can ncrease. The tmes specfed are only the movement tmes of the base jaws at max. speed, max. acceleraton wthout electrcal restrctons, and observance of the maxmum permssble masses per fnger. Motor torque: Requred motor torque may be permanently appled to acheve the maxmum grppng force. Applcaton example Completely electrcally actuated lne gantry for loadng and unloadng pallets wth varous greatly dfferng components. 1 LPE lne gantry, electrc 2 EGA electrc long-stroke grpper 4

5 EGA SCHUNK offers more... The followng components make the product EGA even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Room gantry Rotary modules Sensor system Force-measurng jaws Fnger blanks wth quckchange jaw system Jaw quck-change system Addtonal nformaton regardng the products can be found on the followng product pages or at Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal nformaton Flexble n motor and controller selecton: The electrcal control s carred out va an adaptable servo drve usng common standard controller lke Bosch or Semens Easy ntegraton: The easy ntegraton nto the control system s ensured by the possblty of attachng a common servomotor. Identcal control: Lke a normal servo axs, the grpper can be drectly controlled and nterpolated wth exstng axes. Complete solutons: On request, SCHUNK can supply complete drve solutons ncludng motor, gears, controller, and cables. 5

6 EGA 25 Grppng force Fnger load Grppng force Pont P - Fnger length M y max. 120 Nm F z max N The ndcated torques and forces are statc values, apply for each base jaw, and may occur smultaneously. Techncal data Parallel basc verson EGA-W P-N-B EGA-W P-N-B EGA-W P-N-B ID General operatng data Stroke per jaw [mm] mn. / max. grppng force [N] 150/ / /500 Closng/openng tme [s] 0.42/ / /0.79 max. permssble speed postonng [mm/s] max. permssble power operaton speed [mm/s] recommended workpece weght [kg] Repeat accuracy [mm] max. admssble fnger length [mm] max. admssble weght per fnger [kg] motor moment requred [Nm] motor speed requred [1/mn] Weght [kg] mn./max. ambent temperature [ C] 5/55 5/55 5/55 Protecton class IP Moments M x max./m z max. [Nm] 25/27 29/33 33/46 Optons and ther characterstcs Parallel motor verson EGA-W P-N-MSK030B EGA-W P-N-MSK030B EGA-W P-N-MSK030B ID Weght [kg] Radal motor verson EGA-W R-N-MSK030B EGA-W R-N-MSK030B EGA-W R-N-MSK030B ID Weght [kg] Radal basc verson EGA-W R-N-B EGA-W R-N-B EGA-W R-N-B ID Weght [kg] Motors are not ncluded n the purchase prce n the base varant. Please ask us for detals about the ntegraton of your motor type. 6

7 EGA 25 Man vew EGA The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IL Mn. sx screws per base jaw IM Gear box for parallel motor mountng (not applcable for radal motor mountng) Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 7

8 EGA 25 Stroke verson EGA Stroke verson EGA The drawng shows changes n dmensons of the verson wth a dfferent stroke compared to the verson shown n the man vew. The drawng shows changes n dmensons of the verson wth a dfferent stroke compared to the verson shown n the man vew. Motor verson EGA parallel Motor verson EGA radal FL Servomotor FM Motor add-on kt IL Motor and adapter connecton poston The drawng shows the grpper n the varant wth attached motor, as well as the exact poston for motor adaptaton. FL Servomotor FM Motor add-on kt IL Motor and adapter connecton poston The drawng shows the grpper n the varant wth attached motor, as well as the exact poston for motor adaptaton. 8

9 EGA 25 Motor add-on kt Intermedate jaw nterface Descrpton ID D 1 D 2 D 3 D 4 L mn/ max [mm] [mm] [mm] [mm] Motor add-on kts MAS-EGA M M4 18/21.5 MAS-EGA M M5 18/21.5 MAS-EGA M M5 22/ Grppers IT Customzed grpper fngers IK Unform screw connecton pattern By usng the ntermedate jaw, you have the possblty of drectly connectng a wde range of accessores drectly. Ths ncludes forcemeasurng jaws, jaw quck-change systems, fnger blanks, and unversal ntermedate jaws. ZBA PHL ntermedate jaw Attachment kt for proxmty swtch 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part Optonally ntermedate jaws can be used, enablng drect connecton and algnment of top jaws and varous standard accessores n Z-drecton. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-PHL Steel PGN-plus 100 Scope of delvery 2 IT Heght of verson G IK Heght of verson W End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-PHL 25-IN Ths attachment kt needs to be ordered optonally as an accessory. 9

10 EGA 25 IN 80 nductve proxmty swtches Electronc magnetc swtches MMS End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS-PHL 25-IN Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 10

11 EGA 25 Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 11

12 EGA 40 Grppng force Fnger load Grppng force Pont P - Fnger length M y max. 350 Nm M z max. 121 Nm F z max N The ndcated torques and forces are statc values, apply for each base jaw, and may occur smultaneously. Techncal data Parallel basc verson EGA-W P-N-B EGA-W P-N-B EGA-W P-N-B ID General operatng data Stroke per jaw [mm] mn. / max. grppng force [N] 200/ / /1300 Closng/openng tme [s] 0.65/ / /1.28 max. permssble speed postonng [mm/s] max. permssble power operaton speed [mm/s] recommended workpece weght [kg] Repeat accuracy [mm] max. admssble fnger length [mm] max. admssble weght per fnger [kg] motor moment requred [Nm] motor speed requred [1/mn] Weght [kg] mn./max. ambent temperature [ C] 5/55 5/55 5/55 Protecton class IP Moments M x max. [Nm] Optons and ther characterstcs Parallel motor verson EGA-W P-N-MSK030C EGA-W P-N-MSK030C EGA-W P-N-MSK030C ID Weght [kg] Radal motor verson EGA-W R-N-MSK030C EGA-W R-N-MSK030C EGA-W R-N-MSK030C ID Weght [kg] Radal basc verson EGA-W R-N-B EGA-W R-N-B EGA-W R-N-B ID Weght [kg] Motors are not ncluded n the purchase prce n the base varant. Please ask us for detals about the ntegraton of your motor type. 12

13 EGA 40 Man vew EGA The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IL Mn. sx screws per base jaw IM Gear box for parallel motor mountng (not applcable for radal motor mountng) Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table 13

14 EGA 40 Stroke verson EGA Stroke verson EGA The drawng shows changes n dmensons of the verson wth a dfferent stroke compared to the verson shown n the man vew. The drawng shows changes n dmensons of the verson wth a dfferent stroke compared to the verson shown n the man vew. Motor verson EGA parallel Motor verson EGA radal FL Servomotor FM Motor add-on kt IL Motor and adapter connecton poston The drawng shows the grpper n the varant wth attached motor, as well as the exact poston for motor adaptaton. FL Servomotor FM Motor add-on kt IL Motor and adapter connecton poston The drawng shows the grpper n the varant wth attached motor, as well as the exact poston for motor adaptaton. 14

15 EGA 40 Motor add-on kt Intermedate jaw nterface Descrpton ID D 1 D 2 D 3 D 4 L mn/ max [mm] [mm] [mm] [mm] Motor add-on kts MAS-EGA M M4 20/25.5 MAS-EGA M M5 20/25.5 MAS-EGA M M5 22/ Grppers IT Customzed grpper fngers IK Unform screw connecton pattern By usng the ntermedate jaw, you have the possblty of drectly connectng a wde range of accessores drectly. Ths ncludes forcemeasurng jaws, jaw quck-change systems, fnger blanks, and unversal ntermedate jaws. ZBA PHL ntermedate jaw Attachment kt for proxmty swtch 2 Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part Optonally ntermedate jaws can be used, enablng drect connecton and algnment of top jaws and varous standard accessores n Z-drecton. Descrpton ID Materal Fnger nterface Intermedate jaws ZBA-PHL Steel PGN-plus 160 Scope of delvery 2 IT Heght of verson G IK Heght of verson W End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-PHL 40-IN Ths attachment kt needs to be ordered optonally as an accessory. 15

16 EGA 40 IN 80 nductve proxmty swtches Electronc magnetc swtches MMS End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS-PHL 40-IN Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 16

17 EGA 40 Programmable magnetc swtches MMS PI1 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Programmable magnetc swtches MMS PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtches MMS PI1 wth lateral cable outlet MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtches MMS PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 17

18 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for precse grppng and safe holdng SCHUNK GmbH & Co. KG