2-jaw parallel self-centering pneumatic gripper (series GM)

Transcription

1 GM -jaw parallel self-centering pneumatic gripper (series GM) Double acting. The rugged construction lends itself to heavy duty applications for a trouble free long life without maintenance. Wide choice of stroke length and gripping force options. The gripping force is constant on both directions along the total stroke. Flat profile. Easy fastening by through holes on the flange. Stroke adjustment. Optional magnetic sensors. GM- GM- GM- GM- GM-7 GM-7 GM-77 GM- GM- GM- GM- GM- GM-7 GM- GM- GM- -jaw parallel grippers

2 Medium Pressure range Temperature range GM- GM- Filtered, lubricated / non lubricated compressed air 8 bar C. GM- Gripping force at on each jaw N 8 N 7 N Total gripping force at 7 N N N (±. mm) Total stroke. mm. mm. mm Maximum working frequency Hz Cycle air consumption. cm Closing time without load Repetition accuracy. s. mm Weight 7 g 7 g 7 g Dimensions (mm) Through dowel pin hole (N ) ØH8 Through hole for fastening (N ) Ø.mm Stroke adjustment Air connection (N ) M Gimatic SL sensor slot (N ) Threaded hole for gripper tool (N ) Mxmm A aperta / open Threaded hole for gripper tool (N ) Mxmm B chiusa / closed Threaded hole for fitting external elements (N ) Mxmm -jaw parallel grippers

3 Medium Operating pressure range Operating temperature range GM- GM- Filtered, lubricated / non lubricated compressed air 8 bar C. GM-7 Gripping force at on each jaw 7 N N N Total gripping force at N N N (±. mm) Total stroke 8.7 mm.8 mm mm Maximum working frequency Hz Cycle air consumption. cm Closing time without load Repetition accuracy. s. mm Weight g g g Dimensions (mm) Through hole for fastening (N ) Ø.mm Dowel pin hole (N ) ØH8xmm Air connection (N ) M Gimatic SL sensor slot (N ) Stroke adjustment Threaded hole for gripper tool (N ) Mxmm B A closed open Threaded hole for fitting external elements (N ) Mxmm -jaw parallel grippers

4 Medium Pressure range Temperature range GM- GM- Filtered, lubricated / non lubricated compressed air 8 bar C. GM- Gripping force at on each jaw N N N Total gripping force at N N N (±. mm) Total stroke. mm.8 mm. mm Maximum working frequency Hz Cycle air consumption cm Closing time without load Repetition accuracy. s. mm Weight 7 g g g Dimensions (mm) Through hole for fastening (N ) Ø.mm Dowel pin hole (N ) ØH8xmm Air connection (N ) M Gimatic SL sensor slot (N ) Stroke adjustment Threaded hole for gripper tool (N ) Mxmm B chiusa / closed Threaded hole for fitting external elements A aperta / open (N ) Mxmm -jaw parallel grippers

5 Medium Pressure range Temperature range GM-7 GM-7 Filtered, lubricated / non lubricated compressed air 8 bar C. GM-77 Gripping force at on each jaw N N N Total gripping force at N N N (±. mm) Total stroke. mm. mm mm Maximum working frequency Hz Cycle air consumption cm Closing time without load Repetition accuracy. s. mm Weight g g g Dimensions (mm) Through dowel pin hole (N ) ØH8 Through hole for fastening (N ) Ø.mm Air connection (N ) Ø/8Gas Gimatic SL sensor slot (N ) Stroke adjustment A B open closed Threaded hole for gripper tool (N 8) Mxmm -jaw parallel grippers Threaded hole for fitting external elements (N ) Mx8mm

6 GM- GM- GM- GM- Medium Filtered, lubricated / non lubricated compressed air Pressure range 8 bar Temperature range C. Gripping force at on each jaw N N 77 N N Total gripping force at N N N N Total stroke (±. mm).7 mm mm mm.8 mm Maximum working frequency Hz Cycle air consumption cm Closing time without load Repetition accuracy. s. mm Weight g 7 g g g Dimensions (mm) Through dowel pin hole (N ) ØH8 Stroke adjustment Through hole for fastening (N ) Ø.mm Air connection (N ) Ø/8 Gas Gimatic SL sensor slot (N ) A B open closed Threaded hole for gripper tool (N 8) Mxmm Threaded hole for fitting external elements (N ) Mx8mm -jaw parallel grippers

7 Gripping force The graphs show the gripping force on each jaw, as a function of the operating pressure and gripping tool length Z. Z The force shown in these graphs refers to one jaw. The total force is double. GM- GM- GM- GM GM- GM-7 GM- GM GM- GM-7 GM-7 GM GM- GM- GM- GM jaw parallel grippers

8 Gripping force The graphs show the gripping force on each jaw, as a function of the gripping tool length Z and overhanging X at. GM- GM- GM- GM- 7 N 8 N NO 7 N 8 N NO 7 N N NO N N 7 N NO N 8 N 7 7 X (mm) X (mm) 7 N 7 N 7 X (mm) X (mm) GM- GM-7 GM- GM- 7 N N N 7 NO NO NO NO 87 N N 7 N N N N 7 N N 7 N N N 7 N N N N N 7 7 X (mm) X (mm) X (mm) X (mm) N 7 GM- GM-7 GM-7 GM-77 N N 87 N N N NO NO NO NO 7 N N N N N N N N N N N N N N N 7 X (mm) X (mm) X (mm) X (mm) N GM- GM- GM- GM- N N N N N NO NO NO NO N N 7 N 7 N 7 N N N N 7 N 8 N N N N N 77 N X (mm) X (mm) X (mm) X (mm) N -jaw parallel grippers 7

9 Safety loads Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause functioning troubles and endanger the safety of the operator. F s, Mx s, My s, Mz s, are maximum permitted static loads. Static means still jaws. F d, Mx d, My d, Mz d, are maximum permitted dynamic loads. Dynamic means running jaws. m, is the maximum permitted weight of each gripping tool, when the gripper works without speed adjustment. If the weight is over the permitted value, it is necessary to decrease the speed of the jaw by using flow controllers (not supplied). Mz F Mx My GM--- GM---7 GM--- GM GM---- F s N N N N N Mx s Nm Nm Nm 8 Nm Nm My s Nm Nm Nm 8 Nm Nm Mz s Nm Nm Nm 8 Nm Nm F d N N N 8 N N Mx d Ncm Ncm Ncm Ncm Ncm My d Ncm Ncm Ncm Ncm Ncm Mz d Ncm Ncm Ncm Ncm Ncm m g g g g g Caution Avoid the gripper coming into contact with the following media: coolants which cause corrosion, grinding dust or glowing sparks. Make sure that nobody can place his/her hand between the gripper tools and there are no objects in the path of the gripper. The gripper must not run before the whole machine, on which it is mounted, complies with the laws or safety norms of your country. 8 -jaw parallel grippers

10 Gripper fastening The gripper can be fastened to a static or moving part. When on a moving part, you must pay attention to the forces created by inertia on the gripper and its load. To fasten the gripper, insert four screws into the through holes (C) and two dowel pins into the proper holes (D). The grippers GM-//7 e GM-// can be mounted on the handling system Gimapick without any interface plate. Allow room to mount the air fittings. C D M GM x DIN 8 Mx DIN GM--- GM---7 GM--- GM GM---- C Ø. mm Ø. mm Ø. mm Ø. mm Ø. mm D ØH8 ØH8x mm ØH8x mm ØH8 ØH8 Gripping tool fastening The gripping tools must be as short and light as possible. They must be mounted using the threaded holes (B) and the key slots (A) on the jaws. B A GM--- GM---7 GM--- GM GM---- A. +. x mm. +. x mm +. x. mm. +. x mm +. x mm B Mx mm Mx mm Mx mm Mx mm Mx mm -jaw parallel grippers

11 Sensors The operating position can be checked by magnetic sensors (optional), that detect the magnets on the inner cursor. Therefore a near big mass of ferromagnetic material or intense magnetic fields may cause sensing troubles. Use sensors: OUT PNP Magneto-resistive NPN SLN-G PNP.m cable SLM-G NPN.m cable SLN-G PNP M8 snap plug connector SLM-G NPN M8 snap plug connector OUT They are all provided with a three-wire cable and a lamp. Below you can see how to lock the sensor in its groove (A) with the screw (C) and the nut (B). B C LED A A 7 -jaw parallel grippers

12 Stroke adjustment You can reduce the jaw stroke by screwing the two grub screws (R). Unloose the nut (S), adjust the stroke using an Allen wrench, and then tighten it again. S R Maintenance Grease the gripper after million cycles with: Molykote DX (metal on metal) Molykote PG7 (gaskets) The figure below shows the jaw backlash. Max.mm Max.mm Max.mm -jaw parallel grippers 7

13 Part list 7 8 GM- GM- GM- GM-- Gripper housing Slider MG-- MG-- MG-- Guidance block MG-- MG-- MG-- Right jaw MG--D MG--D MG--D Left jaw MG--S MG--S MG--S MG-- Piston 7 Cover MG-- MG-- MG PAR--7 Magnet 8 Screw VITE- (Mx mm DIN8A INOX A) Screw VITE-7 (Mx mm DIN INOX A) Dowel pin SPINA- (Øx8 mm DIN) GUAR- (.x8.) O-RING Grub screw VITE- (Mx mm DIN INOX A) GUAR- (x) O-RING Nut VITE-7 (M DIN INOX A) 7 -jaw parallel grippers

14 Part list GM- GM- GM-7 Gripper housing GM-- Slider MG-- MG-- MG-7- Right jaw MG--D MG--D MG-7-D Left jaw MG--S MG--S MG-7-S Guidance block MG-- MG-- MG-7- Piston MG-- 7 Cover MG-- MG-- MG Screw VITE- (Mx mm DIN8A INOX A) 8 Screw VITE-7 (Mx mm DIN INOX A) Dowel pin SPINA- (Øx8 mm DIN) O-RING GUAR- (x) Dynamic gasket GUAR-P (xx.) Screw VITE- (Mx mm DIN8A INOX A) Nut VITE-7 (M DIN INOX A) Grub screw VITE- (Mx mm DIN Z/B) Magnet PAR--7 7 Magnet housing GM jaw parallel grippers 7

15 Part list 7 8 GM- GM- GM- Gripper housing GM-- Slider MG-- MG-- MG-- Left jaw MG--S MG--S MG--S Right jaw MG--D MG--D MG--D Guidance block MG-- MG-- MG-- Piston MG-- 7 Cover MG-- MG-- MG Screw VITE- (Mx mm DINA INOX A) 8 Dowel pin SPINA- (Øx mm DIN) Screw VITE- (Mx8 mm DIN INOX A) O-RING GUAR- (.x) Dynamic gasket GUAR-M (x8x.) Screw VITE- (Mx mm DINA INOX A) Grub screw VITE- (Mx mm DIN INOX A) Nut VITE-7 (M DIN INOX A) Magnet K-- 7 -jaw parallel grippers

16 Part list GM-7 GM-7 GM-77 Gripper housing GM-7- Slider MG-7- MG-7- MG-77- Right jaw MG-7-D MG-7-D MG-77-D Left jaw MG-7-S MG-7-S MG-77-S Guidance block MG-7- MG-7- MG-77- Piston MG-7-7 Cover MG-7- MG-7- MG Screw VITE- (Mx mm DINA INOX A) 8 Screw VITE- (Mx mm DIN INOX A) Dowel pin SPINA- (Øx mm DIN) O-RING GUAR-7 (.78x.) Dynamic gasket GUAR-M (x8x.) Grub screw VITE- (Mx mm DIN INOX A) Screw VITE- (Mx mm DIN8A INOX A) Nut VITE-7 (M DIN INOX A) Grub screw VITE- (Mx8 mm DIN INOX A) 7 Magnet FES Magnet housing GM jaw parallel grippers 7

17 Part list jaw parallel grippers GM- GM- GM- GM- Gripper housing GM-- Slider MG-- MG-- MG-- MG-- Right jaw MG--D MG--D MG--D MG--D Left jaw MG--S MG--S MG--S MG--S Guidance block MG-- MG--7 MG--7 MG--7 Piston MG-- 7 Cover MG-- MG-- MG-- MG Screw VITE- (Mx mm DINA INOX A) 8 Screw VITE- (Mx mm DIN INOX A) Screw VITE- (Mx mm DIN INOX A) Dowel pin SPINA- (Øx mm DIN) O-RING GUAR- (.78x.) Dynamic gasket GUAR-P (xx) Grub screw VITE- (Mx8 mm DIN INOX A) Screw VITE- (Mx mm DIN INOX A) Nut VITE-7 (M DIN INOX A) 7 Grub screw VITE- (Mx mm DIN INOX A) 7 8 Magnet FES--- 8 Magnet housing GM--

18 Compressed air feeding The compressed air feeding can be accomplished on the lateral air ports (P and R) with fittings and hoses (not supplied). The compressed air, must be filtered from to µm. Maintain the medium selected at the start, lubricated or not, for the complete service life of the gripper. The pneumatic circuit must be pressurized progressively, to avoid uncontrolled movements. R P Pneumatic circuit Possible problems on the compressed air circuit: - Pressure variation. - Pressurizing with empty cylinders. - Sudden pressure black-out. - Excessive speed of the jaws. Possible solutions: - Compressed air storage (A). - Start-up valve (B). - Safety valve (C). - Flow controller (D). -jaw parallel grippers 77