Non-contact Gripper. Series XT EU605-UK INFORMATION. Assist in non-contact workpiece transfer. Max workpiece suction distance:10 mm

Transcription

1 Non-contact Gripper INFORMTION ssist in non-contact workpiece transfer. Max workpiece suction distance: mm Refer to Lifting Force Distance from the Workpiece on pages to 3. Layer of air Workpiece mm Since there is a layer of air between the workpiece and gripper, non-contact suction is possible. Two types are available. Cyclone Type High lifting force: Max. N Outer body diameter: ø Lifting force 3 Low profile cyclone type (Supply pressure:. MPa) Cyclone type 6 8 Size [mm] High lift sizes available: ø/ø/ø6/ø8/ø Low profile cyclone type.8 mm Bernoulli Type mplitude of the workpiece during gripping: ±. mm or less Solar battery silicon cell ( mm, t = μm) In SMC conditions (How to calculate: Page 3) Vibration mplitude [mm] mplitude ±. mm or less... Time [sec.] Vibration reducing Non-contact gripper Workpiece (Solar battery silicon cell) (Supply pressure:. MPa) 6 sizes available: ø/ø6/ø8/ø/ / sizes available: ø, ø Series XT66 -EU6-UK

2 Series XT66 Cyclone Type High lift Low air consumption Body material: l Original groove-channel design allows cyclone effect with large suction area and even pressure dispersion! Pressure dispersion in height direction Non-contact gripper Large vacuum area, even pressure dispersion Conventional SMC cyclone method Small vacuum area, higher vacuum in the central part Outer body diameter [mm] ø ø ø6 ø8 ø Pressure dispersion in diameter direction ir consumption [L/min (NR)] Supply pressure:. MPa Working Principle Nozzle ir is discharged in the whirling direction. Workpiece Supply port Cyclone Type ir from the supply port is blown off from the nozzle on the concave suction surface side, creating a whirlwind fl ow. The whirlwind fl ow is discharged to the atmosphere from the gap between the non-contact gripper and the workpiece. s a result, a vacuum zone is created inside the spiral fl ow due to the cyclone effect, enabling the workpiece to be lifted without physical contact. The action of the centrifugal force of the spiral fl ow allows a greater lifting force to be generated. Various workpiece suction methods are available. Permeable workpieces, etc. Through hole board, etc. Workpiece in a packet Thickness of workpiece [μm] 3 Grease-free The inside can be disassembled and cleaned. Made to Order With urethane pad (-X7) Mitigation of impacts and prevention of damage during lifting No need to install a guide Except ø Refer to page 8. Urethane pad With multi-port (-X) The presence of a workpiece can be checked by installing a sensor. Recommended sensor Multi-port ir supply port Pressure sensor Series PSE Flow sensor Series PFMV For the method of selecting and using a sensor, refer to the operation manual.

3 Non-contact Gripper Series XT66 Low Profile Cyclone Type (-X6) Low profile Made to Order Thickness:.8 mm Weight: pprox..3 g Outer body diameter: ø Outer body diameter [mm] ø ø ir consumption [L/min (NR)] 3 3. Supply pressure:. MPa Can be mounted on the end of a robot arm. Two sizes (ø and ø) ) are available. Non-contact gripper Robot arm Workpiece (Wafers, etc.) Mounting pply adhesive to the surface on the air supply port side of the non-contact gripper, and mount the gripper on the equipment. (Be careful that the adhesive does not obstruct the air supply port.)

4 Series XT66 Bernoulli Type Vibration reducing type Body material: Resin Original groove-channel design allows the Bernoulli effect with suppressing the amplitude of the workpiece during gripping! Reduced amplitude of the workpiece Size: Size: ø How to calculate.... Laser displacement needle mplitude [mm] mplitude [mm] Displacement mplitude Non-contact gripper Guide Workpiece (Solar battery silicon cell)..... Time [sec.]..... Time [sec.] <Conditions> Solar battery silicon cell mm Thickness: μm Supply pressure:. MPa Outer body diameter [mm] ø ø6 ø8 ø ir consumption [L/min (NR)] Supply pressure:. MPa Working Principle ir is discharged radially. Workpiece Supply port Bernoulli Type ir from the supply port is blown off radially from the nozzle on the convex suction surface side. The radial fl ow is discharged to the atmosphere from the gap between the non-contact gripper and the workpiece, and the air between the non-contact gripper and the workpiece is pulled in the peripheral direction. s a result, a vacuum zone is generated in the centre, enabling the workpiece to be lifted without physical contact. lso, the original groove-channel design allows the air to be discharged radially, thus suppressing ripples caused by pulsations and whirlwind fl ow, and enabling the amplitude of the workpiece to be minimised. Various workpiece suction methods are available. Reduction of rotation load No directionality of whirlwind air 3 Thickness of workpiece [μm] Solar battery cell, etc Electrode materials, etc Insulating sheet, etc Standardization of multi-port Except ø Grease-free The inside can be disassembled and cleaned. 3

5 Non-contact Gripper Series XT66 Related Products Mist Separator Regulator Port Valve General ir M (Filtration degree:.3 μm) Membrane ir Dryer Super Mist Separator Odor Removal Filter R RM Regulator VXZ VQ Port Valve Oil-free ir IDG ME MF (Filtration degree:. μm) (Filtration degree:. μm) R-X (Oil-free) RM (Oil-free) Clean Regulator ir Port Valve SRH Clean Clean room production Parts washed Double packing/shipping VXZ (Other option/oil-free) VQ-X (Oil-free) LV Clean ir Filter SFD SF Clean ir Module For details, refer to the SMC website. LLB Modularises the flow switch, regulator, pressure switch, port valve and filter. (Filtration degree:. μm)

6 Series XT66 Model Selection Selection Procedure Check the workpiece and operating conditions. ) Check the kind of workpiece and also its size and weight. ) Check the guide corresponding to the transfer method of the workpiece and Selection (Page 7). t the same time, check the distance between the workpiece to be set and the non-contact gripper. 3) Check the supply pressure applied to the non-contact gripper. Check the lifting force. ) Clarify the lifting force corresponding to the distance between the workpiece and the non-contact gripper for each supply pressure. <How to read the graph> Example: For the case of Cyclone type ø6, a supply pressure of. MPa, a workpiece mass of g (.9 N), and a mm distance between the workpiece and the non-contact gripper <Checking procedure> From the Cyclone type ø6 graph, check the lifting force from the intersection of a mm distance between the workpiece and non-contact gripper and a supply pressure of. MPa. Then, extend a horizontal line from this point to the vertical axis to obtain the lifting force. ) Multiply the final lifting force by a safety factor and decide the temporary lifting force. Obtain the temporary lifting force by using the following equation. (Note: The [Cyclone type ø6] 3. (MPa).3 (MPa). (MPa). (MPa) temporary lifting force is the lifting force that has been set after taking into account the safety factor used for selecting a noncontact gripper.) F = f x (/t) F: Temporary lifting force [N] f: t: Safety factor or more 3) Compare the fi nal lifting force and workpiece mass, and determine the size and number of non-contact grippers such that the temporary lifting force workpiece mass. <Checking procedure> If the temporary lifting force workpiece mass, the gripper can be used under these conditions. If the temporary lifting force < workpiece mass, either increase the size of the non-contact gripper, or increase the number of grippers to be used. Obtain the required number of grippers from the following equation. N = (9.8 x W/)/(F) Rounding up to the nearest higher integer N: Q ty [pcs.] W: Workpiece mass [g] F: Temporary lifting force [N] 9.8: Gravitational acceleration [m/s ] 3 Determine the layout of the non-contact grippers. <Checking procedure> Determine the positions of the non-contact grippers according to the number of grippers to be used, taking into account the balance of the workpiece. If the balance of the workpiece is poor during lifting, either increase the size of the non-contact gripper, or increase the number of grippers to be used. The above shows selection procedures for general non-contact grippers; thus, they will not be applicable for all grippers. Customers are required to conduct a test on their own and to select the size of the non-contact grippers and the non-contact grippers to be used based on the test results.

7 Non-contact Gripper Series XT66 Selection Examples of Non-contact Gripper Selection example For small workpiece Selection example For large workpiece Workpiece size: x Plate thickness 3 mm Workpiece mass: 3 g Distance from the workpiece: mm Supply pressure:. MPa Workpiece size: x x.7 mm Workpiece mass: 9.7 kg Distance from the workpiece:.8 mm Supply pressure:.3 MPa. MPa Workpiece.3 MPa () Check the workpiece and operating conditions. ) Workpiece size: x Plate thickness 3 mm Workpiece mass: 3 g ) Guide: On the top of the workpiece by means of an external stopper Distance from the workpiece: mm 3) Supply pressure:. MPa () Check the lifting force. ) From the graph (lifting force distance from the workpiece), check the lifting force at a supply pressure of. MPa and a mm distance between the workpiece and the non-contact gripper for each size. XT66-:.8 N XT66-: 3.8 N XT66-6:.9 N XT66-8: 7. N XT66-:. N ) Calculate the temporary lifting force using a safety factor of. XT66-: F = f x (/t) =.8 x (/) =. N XT66-: F = f x (/t) = 3.8 x (/) =.9 N XT66-6: F = f x (/t) =.9 x (/) =.9 N XT66-8: F = f x (/t) = 7. x (/) = 3.7 N XT66-: F = f x (/t) =. x (/) = 7. N 3) Confirm the relationship temporary lifting force workpiece mass. Convert the workpiece mass [g] into a force [N]. 3 g 3 x 9.8/ =.9 N For a workpiece mass of 3 g (.9 N) XT66-6: Temporary lifting force.9 N Workpiece mass 3 g (.9 N) XT66-8: Temporary lifting force 3.7 N Workpiece mass 3 g (.9 N) XT66-: Temporary lifting force 7. N Workpiece mass 3 g (.9 N) In this case, the relationship temporary lifting force workpiece mass is obtained. For this workpiece, select the XT66-6. The number of grippers to be used is one. (3) Determine the layout of the non-contact grippers. ) Install the grippers at the centre of gravity (centre) of the workpiece, and confi rm that there is no problem with the balance of the workpiece during lifting. () Check the workpiece and operating conditions. ) Workpiece size: x x.7 mm Workpiece mass: 97 g ) Guide: On the end of the workpiece Distance from the workpiece:.8 mm 3) Supply pressure:.3 MPa () Check the lifting force. ) From the graph (lifting force distance from the workpiece), check the lifting force at a supply pressure of.3 MPa and a.8 mm distance between the workpiece and the non-contact gripper for each size. XT66-:. N ) Calculate the temporary lifting force using a safety factor of. XT66-: F = f x (/t) =. x (/) =. N 3) Confirm the relationship temporary lifting force workpiece mass. Convert the workpiece mass [g] into a force [N]. 97 g 97 x 9.8/ = 9.6 N XT66-: Temporary lifting force. N < Workpiece mass 97 g (9.6 N) In this case, the relationship temporarily lifting force workpiece mass is not obtained, so multiple grippers must be used. Obtain the number of grippers to be used from the following equation. N = (9.8 x W/)/(F) = (9.8 x 97/)/(.) = 9 Rounding up to the nearest higher integer For this workpiece, select the XT66-. The number of grippers to be used is nine. (3) Determine the layout of the non-contact grippers. ) dequately take into account the centre of gravity and defl ection of the workpiece, and then install nine non-contact grippers for a well-balanced hold. ( If a defl ection occurs, the lifting force will decrease.) 6

8 Series XT66 cceleration/wind pressure/impact When transferring the workpiece, take into account not only the workpiece mass, but also acceleration, wind pressure and impact as well. (Refer to Fig..) Particular care must be taken in the case of a flat plate that has a large area. It is necessary to adopt measures such as the installation of a wind pressure prevention cover. lso, even if the relationship temporary lifting force workpiece mass is adequate, select a larger size that provides a degree of margin. The stability of the lift with respect to acceleration, wind pressure and impact generally increases in proportional to the diameter. Fig. Impact Impact Selection Balance of the workpiece Install the non-contact gripper at a position such that a moment is not created from the workpiece. (Refer to Fig..) lso, when lifting a flat plate that has a large area with multiple non-contact grippers, install the grippers in such a way that they are well balanced with respect to the workpiece mass. (Refer to Fig..) Fig. Positions of the non-contact gripper and workpiece Positions of the non-contact gripper and workpiece Wind pressure cceleration Wind pressure cceleration Moment Wind pressure prevention cover Fig. Positions of the non-contact grippers and workpiece Horizontal force non-contact gripper does not produce a restraining force that prevents horizontal movement of the workpiece. It is necessary to install a guide at the end of the workpiece. (Refer to Fig..) Fig. Horizontal movement There is no restraining force in the horizontal direction. Positions of the non-contact grippers and workpiece Horizontal movement Restraining force in the horizontal direction by means of a guide Mounting orientation The basic mounting direction of the gripper is horizontal. If the gripper is mounted obliquely or vertically, it must also install a guide and use an adequate safety factor ( or more). Size of the non-contact gripper and workpiece Use a non-contact gripper that has an area of less than that of the workpiece. If the area of the gripper is greater than that of the workpiece, a vacuum zone will not occur, so a lifting force will not be generated. (Refer to Fig. 3.) Fig. 3 rea of workpiece Size of non-contact gripper rea of workpiece > < Size of non-contact gripper Workpiece with holes Depending on the size and distribution of the hole, it may be impossible to lift the workpiece. To ensure that the workpiece is lifted, the total area of the holes versus the suction area (aperture ratio) must be % or less. However, the lifting force will be reduced, so it is necessary to use an appropriate supply pressure and an adequate safety factor. Workpiece that has concave/convex surfaces Depending on the size of the concave/convex surfaces, it may be impossible to lift the workpiece. It is necessary to use an appropriate supply pressure and an adequate safety factor according to the workpiece mass. Precautions for Each Kind of Workpiece Thin workpiece If the supply pressure is higher than the necessary value, the workpiece may be deformed or damaged due to the lifting force. There is also a possibility of the workpiece vibrating. To prevent this, do not set the supply pressure higher than necessary. Soft workpiece s soft workpieces are easy to deform, there is a tendency for the workpiece to touch the bottom of the non-contact gripper. Please be aware that the workpiece may touch the gripper before using. Regarding the XT66-, there is a limit to the size of the fi tting for the supply port that can be used. Use a fi tting whose connection thread O.D. is ø8 or less and whose width across fl ats is 8 or less. If greater sizes than these are used, the fitting may interfere with the head of the mounting bolt. Other Precautions Mounting bolt Usable fitting Thread O.D.: ø8 or less Width across flats: 8 or less 7

9 Non-contact Gripper Series XT66 When using a non-contact gripper, install a guide as well. Provide a guide in accordance with the applications and/or configuration of a workpiece with reference to the following installation examples. Reasons for installing a guide Holding a workpiece non-contact gripper does not produce a restraining force that prevents horizontal movement of the workpiece. Install a guide at the end of the workpiece in order to hold the workpiece. Preventing physical contact Depending on the operating conditions, the workpiece may touch the gripper. To prevent such contact, install a guide that maintains a certain distance between the gripper and the workpiece. Installation examples On the end of the workpiece On the top of the workpiece (Use in combination with vacuum pads.) Workpiece Vacuum pad By installing a guide at the end of the workpiece, the contact area can be kept as small as possible. When using multiple non-contact grippers Determine the position of the workpiece using vacuum pads. When transferring the workpiece, use a gripper as well. This ensures contact with the workpiece to be minimised during transferring. On the top of the workpiece (External stopper) With urethane pad djustment bolt Workpiece For adjustment bolts, the sold separately options are available. Refer to page. The adjustment bolts make the distance between the non-contact gripper and workpiece adjustable. The guide comes with a bumper to ensure the impact to be minimised and also prevent a damage during lifting the workpiece. Note) When using a guide with a urethane pad, refer to the lifting force distance from the workpiece on page. Then as a guide, set the lifting force corresponding to the distance of. mm between the non-contact gripper and workpiece. Use the gripper in a contacted condition by means of a urethane pad. This will eliminate the need for a guide. 8

10 Non-contact Gripper Series XT66 Cyclone type How to Order XT66 R Outer body diameter: ø mm mm 6 6 mm 8 8 mm mm Direction of whirling air R Clockwise L Counterclockwise Specifications 6 8 Outer body diameter [mm] ø ø ø6 ø8 ø Piping port size M x.8 Rc /8 Fluid ir Operating pressure. to. MPa Proof pressure.7 MPa mbient and operating temperature to 6 C (no freezing) Grease Grease-free Body material 7 Weight [g] ir purifi cation rating: JIS B 839- (ISO873-) Quality Degree,, or more Low profile cyclone type XT66 Outer body diameter: ø mm 3 mm R X6 Direction of whirling air R Clockwise L Counterclockwise 3 Outer body diameter [mm] ø ø Piping port size ø.6 Fluid ir Operating pressure. to. MPa Proof pressure.7 MPa mbient and operating temperature to C (no freezing) Grease Grease-free Body material 7 Weight [g].33.3 Use adhesive to mount the gripper. ir purifi cation rating: JIS B 839- (ISO873-) Quality Degree,, or more Bernoulli type XT66 C X3 Outer body diameter: ø C 39 mm 6C 9 mm 8C 79 mm C 99 mm Bernoulli type XT66 E X3 Body size: E mm E mm ccessory B Guide assembly djustment bolt assembly C 6C 8C C E E Outer body diameter [mm] ø39 ø9 ø79 ø99 Piping port size M x.8 Rc /8 Fluid ir Operating pressure. to. MPa Proof pressure.6 MPa mbient and operating temperature to C (no freezing) Grease Grease-free Body material PBT Weight [g] ir purifi cation rating: JIS B 839- (ISO873-) Quality Degree,, or more None 9

11 Non-contact Gripper Series XT66 Sold Separately Options: External Stopper (Order Separately) C M D Bumper (Urethane rubber) B Model djustment range [mm] B C D M MXQ MXQ-67-X M x.8 MXQ MXQ-87-X M6 x MXQ-87-X 36. MXQ-7 MXQ-7-X 3 M8 x MXQ-7-X MXQ-67. MXQ-67-X 3. M x MXQ-67-X. MXQ-7 7. MXQ-7-X M x. MXQ-7-X 7. MXQ-7 3. MXQ-7-X M x. MXQ-7-X. Lifting Force [Cyclone Type] Size: ø Size: ø/ø6/ø8 Size: ø 3 ø8 3 ø ø Lifting Force [Low Profile Cyclone Type] Size: ø. Size: ø

12 Series XT66 ir Consumption [Cyclone Type] Size: ø Size: ø/ø6/ø8 Size: ø Consumption flow rate [L/min (NR)] Consumption flow rate [L/min (NR)] 6 8 ø/ø6/ø Consumption flow rate [L/min (NR)] ir Consumption [Low Profile Cyclone Type] Size: ø/ø Consumption flow rate [L/min (NR)] 3 3 ø/ø Lifting Force Distance from the Workpiece [Cyclone Type] Size: ø Size: ø Size: ø6. (MPa).3 (MPa) 3. (MPa). (MPa). (MPa) 6.3 (MPa). (MPa) 8. (MPa) 3. (MPa).3 (MPa). (MPa). (MPa) Size: ø8 3. (MPa).3 (MPa). (MPa). (MPa) Size: ø. (MPa).3 (MPa) 3. (MPa). (MPa)

13 Non-contact Gripper Series XT66 Lifting Force Distance from the Workpiece [Low Profile Cyclone Type] Size: ø Size: ø..... (MPa).3 (MPa). (MPa). (MPa)... (MPa).3 (MPa). (MPa). (MPa) Lifting Force [Bernoulli Type] Size: ø/ø6/ø8 Size: ø Size: / 6 ø ø6 ø ir Consumption [Bernoulli Type] Size: ø/ø6/ø8 Size: ø Size: / Consumption flow rate [L/min (NR)] 8 6 ø/ø6/ø Consumption flow rate [L/min (NR)] Consumption flow rate [L/min (NR)] 3 /

14 Series XT66 Lifting Force Distance from the Workpiece [Bernoulli Type] Size: ø Size: ø6 Size: ø8 3.. (MPa).3 (MPa).. (MPa). (MPa).. (MPa) 3.3 (MPa). (MPa). (MPa) 6. (MPa) 3.3 (MPa). (MPa). (MPa) Size: ø Size: Size: 8 6. (MPa).3 (MPa). (MPa). (MPa) 6 8. (MPa).3 (MPa). (MPa). (MPa) 6 8. (MPa).3 (MPa). (MPa). (MPa) Vibration [Bernoulli Type] Supply pressure:. MPa Size: ø Size: ø6 Size: ø8 mplitude [mm] mplitude [mm] Time [sec.]... Time [sec.] mplitude [mm] mplitude [mm] Time [sec.] Size: ø Size: Size:... Time [sec.] mplitude [mm] mplitude [mm] Time [sec.]... Time [sec.] solar cell is used for this data only. 3

15 Non-contact Gripper Series XT66 Construction [Cyclone Type] Size: ø Size: ø, ø6, ø8, ø e r - q w - e r q w Component Parts No. Description Material Note Body (R, L) luminium alloy (Hard anodised) Body M luminium alloy (Hard anodised) 3 O-ring NBR Hexagon socket head cap screw Stainless steel XT66- to Construction [Low Profile Cyclone Type] Size: ø, ø - q w Expanded view - q w Component Parts No. Description Material Note Body (R, L) Body M luminium alloy (Black hard anodised) luminium alloy (Black hard anodised) XT66-, 3

16 Series XT66 Construction [Bernoulli Type] Size: ø Size: ø6 Size: ø8, ø - t y u q B-B u y t - w r e w - q w e i B r i u y t e r q B Size:, r B-B - q B B e w C-C i u y t r C r C Guide assembly - o djustment bolt assembly! C-C Component Parts No. Description Material Note Body PBT resin Body B PBT resin 3 O-ring NBR Helical insert Stainless steel Flat washer Chromium molybdenum steel (Zinc chromated) 6 Spring washer Chromium molybdenum steel (Zinc chromated) 7 Hexagon socket head cap screw Chromium molybdenum steel (Zinc chromated) XT66-C to C XT66-E, E 8 Plug Brass/NBR/Stainless steel Except XT66-C 9 Guide assembly djustment bolt assembly POM/Chromium molybdenum steel (Zinc chromated) Polyurethane/Chromium molybdenum steel, mild steel (Zinc chromated) ccessories for XT66-E, E

17 Non-contact Gripper Series XT66 Dimensions [Cyclone Type] XT66--(R, L) XT66--(R, L) XT66-6-(R, L) ød ød ød ir supply port.6 x M depth ML ir supply port P.C.D. C ir supply port P.C.D. C x M depth ML x M depth ML XT66-8-(R, L) XT66--(R, L) ød ød ir supply port P.C.D. C ir supply port P.C.D. C x M depth ML x M depth ML [mm] Part no. P PL M ML C D XT66--(R, L) M x.8 M x. 3. XT66--(R, L) M x.8 M x XT66-6-(R, L) M x.8 M x XT66-8-(R, L) Rc /8 M x XT66--(R, L) Rc /8 M x.7 7 Dimensions [Low Profile Cyclone Type] XT66--(R, L)-X6 XT66-3-(R, L)-X6 ø.6 ir supply port ø.6 ir supply port.8 ø.8 ø 6

18 Series XT66 Dimensions [Bernoulli Type] XT66-C-X3 ir supply port XT66-6C-X ød H ød ir supply port P.C.D. C H P.C.D. C x M depth ML x M depth ML XT66-8C-X3 XT66-C-X3 ir supply port ød ir supply port H H ød P.C.D. C P.C.D. C x M depth ML x M depth ML XT66-E-X3 XT66-E-X3 L H ir supply port ir supply port P.C.D. C P.C.D. C L H L x M depth ML [mm] Part no. P PL M ML C H D L XT66-C-X3 M x.8 M x XT66-6C-X3 M x.8 6 M x XT66-8C-X3 M x.8 6 M x XT66-C-X3 Rc /8 M x XT66-E-X3 Rc /8 M x XT66-E-X3 Rc /8 M x L x M depth ML

19 Non-contact Gripper Series XT66 Dimensions [Bernoulli Type] With guide assembly Size: Size: 3. (7.3) 3 7 to 3 (djustable) (7.3) to 6 (djustable) With adjustment bolt assembly Size: Size: () (djustable) ø3 9 () (djustable) ø3 8

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