2-JAW SELF-CENTERING PARALLEL PNEUMATIC GRIPPER (SERIES S)

Transcription

1 2-JAW ELF-CENTERING PARALLEL PNEUMATIC GRIPPER (ERIE ) Hanover IF Design Award Winner. Modular with Gimapick ystem. Double-acting (single-acting on request). Bottom porting is available. High gripping force and low weight. Optional magnetic sensors. Price $ Medium Pressure range Filtered compressed air, lubricated or non-lubricated psi Temperature range F Gripping force on each jaw at 87 psi Total gripping force at 87 psi 22.5 lbf 45 lbf Total stroke ±0.012'' (±0.3 mm) 0.417'' (10.6 mm) Maximum operating frequency 3 Hz Air consumption per cycle 0.85 in 3 Closing time without load 0.01 s Repetition accuracy '' (0.02 mm) 72 Weight 0.88 lb (400g)

2 by DIMENION (mm) A B C D E F G H ±0.02 I M N O P Q R T U V Z AB Ø R 35 R 12 Dowel Pin Hole (4) Ø3H8x4mm Gripper Finger Mounting Threaded Hole (2) M8x15mm open closed Air inlet (2) M5 ensor slot Mounting thru hole (12) Ø4.3 73

3 GRIPPING The patented gripping function principle is based on a single piston which is integral with one of the jaws. The other jaw is driven by a lever. The gripper is double-acting for either internal or external gripping applications. A single-acting version is available on request with a closing (NC) or opening (NO) spring. Pressurized Chamber APPLICATION EXAMPLE These grippers can easily be integrated with other elements of the Gimapick system. M25 A25 M4x12 DIN 912 ø3x10 DIN 6325 R32 O-RING #010 P25 R32 74

4 by GRIPPING FORCE The graphs show the gripping force on each jaw, as a function of the operating pressure, of the gripper finger length (Z) and of the misalignment of the gripping point (X). The force shown in these graphs refers to one jaw. The total force is double. GRIPPING FORCE N x = lbf GRIPPING FORCE N x = lbf Z X PREURE bar x 14.5 = psi PREURE bar x 14.5 = psi 100 (6 bar) Gripping Force (N) (8 bar) (6 bar) (4 bar) Z (mm) N 83 N 87 N NO N 93 N 100 Z (mm) X (mm) AFETY LOAD Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause malfunctions and endanger the safety of the operator. F s, Mx s, My s, Mz s, are the maximum permitted loads under static conditions when the jaws are not moving. F d, Mx d, My d, Mz d, are the maximum permitted loads under dynamic conditions when the jaws are moving. m is the maximum permitted weight of each gripper finger, when the gripper is used without speed adjustment. If the weight of the fingers exceeds the permitted value, it is necessary to decrease the speed of the jaws by using flow controllers (not supplied). Mx My F F s Mx s 300 N 8.3 Nm My s 8.3 Nm Mz s 8.3 Nm F d 3 N Mx d 8 Ncm My d 8 Ncm Mz Mz d m 8 Ncm 150 g 75

5 GRIPPER MOUNTING The gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to. To mount the gripper, use at least (4) bolts though the holes on the mounting plate (A) and at least (2) dowel pins into the dowel pin holes (B). B A A B Ø4.3 mm Ø3H8x4 mm GRIPPER FINGER MOUNTING The Fingers must be as short and light as possible. Fit them to the jaws by centering the calibrated profile (D) and locking with a screw through the middle threaded hole (C). D C 76 C D M8x15 mm x mm

6 by ENOR The operating position is detected by one or more magnetic proximity sensors (optional) through a magnet placed on the piston. Magnetic proximity sensors should not be used in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems and jeopardize proper operation. OUT PNP Magneto-resistive L NPN OUT The sensors that can be used are: Price L4N225Y PNP 2.5m cable $26.14 L4M225Y NPN 2.5m cable $26.14 L3N203Y PNP M8 snap plug connector $29.96 L3M203Y NPN M8 snap plug connector $ N225Y PNP 2.5m cable (1) $ M225Y NPN 2.5m cable (1) $ N203Y PNP M8 snap plug connector (1) $ M203Y NPN M8 snap plug connector (1) $29.96 (1) Use the adapter, Part # provided in the K-EN pack. 77

7 PIPING THE UNIT The gripper is pressurized from the side ports () using proper fittings and tubing (not supplied), or directly from the bottom air ports (P) or (Q). Compressed air in 1: gripper opening. Compressed air in 6: gripper closing. The compressed air must be filtered using a 5 to 40 micron filter. The initial choice on air lubrication (lubricated or not) must be kept for the complete service life of the gripper. The pneumatic circuit must be pressurized progressively to avoid uncontrolled movements. P Q Air supply port (4) M3 PNEUMATIC CIRCUIT Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurizing the empty gripper at start-up. 3- udden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- tart-up valve (B). 3- afety valves (C). 4- Flow controllers (D). 78

8 by CAUTION Never let the unit come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper. Never let non-authorized persons or objects be within the operating range of the gripper. Never operate the gripper on a machine that does not comply with the safety standards and laws of your country. MAINTENANCE The gripper must be lubricated every 10 million cycles using the following products: Molykote DX (metal parts) Molykote PG75 (gaskets) The figure below shows the jaw backlash. Max 0.05mm Max 0.05mm 79

9 EXPLODED VIEW 80

10 by PART LIT 1 Gripper body Piston Head cap Jaw Jaw Lever crew VITE-117 (M4x35 mm INOX A2 DIN912) 7 8 crew VITE-116 (M3x10 mm INOX A2 DIN966A) 8 9 Dowel pin PINA-012 (Ø4x20 mm DIN6325) 9 10 Dowel pin PINA (Ø4x39.8 mm DIN5402) Plug DT Dowel pin PINA-013 (Ø5x40 mm DIN6325) Magnet P-0025-P Gasket GUAR-064 (25x19x3.5) O-RING GUAR-029 (Ø1.78x4.48) Plug M O-RING GUAR-039 (Ø1.78x6.07) 17 81