Price $ $ $ Filtered compressed air, lubricated or non-lubricated

Transcription

1 2-JAW SELF-CENTERING RADIAL PNEUMATIC GRIPPER (SERIES PS-P) Double-acting radial motion. The gripping force is constant through the entire stroke (from 0 to 90, both opening and closing). Lightweight: light alloy materials were used throughout the gripper. Flat profile. Well protected against dust. Very versatile; more than two sensors can be used. PS-0016-P PS-0025-P PS-0045-P PS-0016-P PS-0025-P PS-0045-P Price $ $ $ Medium Pressure range Filtered compressed air, lubricated or non-lubricated psi Temperature range F Stroke (±1 ) 2 x 90 Gripping torque on each jaw at 87 psi 8.85 in-lbf 24.8 in-lbf in-lbf Total gripping torque at 87 psi 17.7 in-lbf 49.6 in-lbf in-lbf Maximum operating frequency 2 Hz 2 Hz 1 Hz Air consumption per cycle 1 in in in 3 Closing time without load 0.06 s 0.09 s 0.15 s Repetition accuracy Weight 0.7 lb (320g) 1.4 lb (650g) 6 lb (2700g) 292

2 by PS-P RADIAL GRIPPER The radial gripper is gripper whose jaws have an angular motion with an opening angle of approx. 90. It is normally used when it is necessary back the gripper jaws and fingers away from the working plane. USE OF THE GRIPPER As the gripper is double-acting, it can be used to grip a piece either when the jaws are closing or opening. The gripping force is the same in both directions, as the gripper is driven by rodless pistons. 293

3 DIMENSIONS (mm) PS-0016-P Dowel Pin Hole (N 2) Ø5H8x5 mm Gripper Finger Mounting Hole (N 3+3) Ø4.5 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø4H8 mm Gripper Mounting Threaded Hole (N 4) M5x5 mm OPEN STROKE Sensor slot Ports M5 294

4 by PS-P DIMENSIONS (mm) PS-0025-P Dowel Pin Hole (N 2) Ø5H8x8 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø4H8 mm Gripper Finger Mounting Hole (N 3+3) Ø4.5 mm OPEN Gripper Mounting Threaded Hole (N 4) M5x8 mm STROKE Ports 1/8 G Sensor slot Detail of side A 295

5 DIMENSIONS (mm) PS-0045-P Dowel Pin Hole (N 2) Ø8H8x13 mm Gripper Finger Dowel Pin Hole (N 2+2) Ø6H8 mm Gripper Finger Mounting Hole (N 3+3) Ø6.3 mm Gripper Mounting Threaded Hole (N 4) M8x13 mm OPEN STROKE Ports 1/4 G Sensor slot Detail of side A 296

6 by PS-P SAFETY LOADS 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, Mx, My, Mz are the maximum permitted loads under static conditions, that is when the jaws are motionless. PS-0016-P PS-0025-P PS-0045-P F 16 N 75 N 203 N Mx 2.7 Nm 7.5 Nm 48 Nm My 3.5 Nm 22 Nm 86 Nm Mz 2.4 Nm 15 Nm 59 Nm SPEED ADJUSTMENT The graphs show the maximum permitted moment of inertia on each finger (J), as a function of the jaw opening or closing time (t). Use flow controllers (not supplied) to achieve the desired speed. J=180 t 2 J=275 t 2 J=500 t 2 297

7 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 the two dowel pin holes (A) and the four threaded holes (B) in the base of the gripper body. Allow sufficient room for the air fittings (C) and to mount the sensors. A Dowel Pin Holes B Threaded Holes C Threaded Holes for Air Fittings PS-0016-P PS-0025-P PS-0045-P A Ø5H8x5mm Ø5H8x8mm Ø8H8x13mm B M5x5mm M5x8mm M8x13mm C M5 G1/8 G1/4 MOUNTING GRIPPER FINGERS The Fingers must be as short and light as possible. Mount them on each jaw using at least two bolts and two dowel pins. PS-0016-P PS-0025-P PS-0045-P Dowel Pin Holes Ø4H8 mm Ø4H8 mm Ø6H8 mm 298 Threaded Holes for Screws Ø4.5 mm Ø4.5 mm Ø6.3 mm

8 by PS-P SENSORS The operating position is detected by one or more magnetic proximity sensors (optional) through magnets placed on the pistons. 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. The sensors that can be used are: OUT CB... SS... PNP Magneto-resistive NPN SS OUT PS-0016-P PS-0025-P PS-0045-P CB3N2-G PNP M8 snap plug connector $22.00 CB3M2-G NPN M8 snap plug connector $22.00 SS4N225Y PNP 2.5m cable $26.14 (1) (1) (1) SS4M225Y NPN 2.5m cable $26.14 (1) (1) (1) SS3N203Y PNP M8 snap plug connector $29.96 (1) (1) (1) SS3M203Y NPN M8 snap plug connector $29.96 (1) (1) (1) (1) Use the adapter, Part # SS provided in the K-SENS pack. CB... CFSM SS... SS

9 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. 300

10 by PS-P PARTS LIST PS-0016-P 1 Gripper body PS-0016-P Piston PS-0016-P Pin PS-0016-P Driving gear wheel PS-0016-P Jaw PS-0016-P Jaw support plate PS-0016-P Idle gear wheel PS-0016-P07D 7 8 Idle gear wheel PS-0016-P07S 8 9 Cover PS-0016-P Magnet PS-0016-P Open end plate PE A Closed end plate PE C Elastic pin SPINA-025 (Ø3x16 mm DIN1481) Dowel pin SPINA-090 (Ø3x8 mm DIN6325) O-Ring GUAR-029 (Ø1.78x4.48) Screw VITE-031 (M3x8 mm DIN912) O-Ring GUAR-023 (Ø1.78x15.6) Dynamic gasket GUAR-002P (16x9x2.5) Elastic pin SPINA-038 (Ø3x12 mm DIN1481) Screw VITE-031 (M3x6 mm DIN912 INOX A2) Screw VITE-035 (M3x8 mm DIN965A INOX A2) Grub screw VITE-042 (M4x6 mm DIN913 INOX A2)

11 PARTS LIST PS-0025-P Gripper body PS-0025-P Piston PS-0025-P Jaw PS-0025-P Jaw support plate PS-0025-P Pin PS-0025-P Driving gear wheel PS-0025-P Magnet PS-0025-P Cover PS-0025-P Profile PS-0025-P Idle gear wheel PS-0016-P07D Idle gear wheel PS-0016-P07S Open end plate PE A Closed end plate PE C Grub screw VITE-227 (M4x8 mm DIN913) Dowel pin SPINA-042 (Ø3x16 mm DIN6325) O-Ring GUAR-030 (Ø1.78x25.12) Screw VITE-020 (M4x10 mm DIN912 INOX A2) O-Ring GUAR-029 (Ø1.78x4.48) Dynamic gasket GUAR-003M (25x18x2.4) Dowel pin SPINA-022 (Ø3x12 mm DIN6325) Screw VITE-031 (M3x8 mm DIN912 INOX A2) Dowel pin SPINA-006 (Ø3x10 mm DIN6325) Screw VITE-035 (M3x8 mm DIN965A INOX A2) 23

12 by PS-P PARTS LIST PS-0045-P 1 Gripper body PS-0045-P Piston PS-0045-P Jaw PS-0045-P Jaw support plate PS-0045-P Driving gear wheel PS-0045-P Idle gear wheel PS-0045-P Cover PS-0045-P Pin PS-0045-P Profile PS-0045-P Magnet PS-0045-P Open end plate PE A Closed end plate PE C Guide strip PE Dowel pin SPINA-041(Ø8x30 mm DIN6325) Elastic pin SPINA-040 (Ø8x30 mm DIN1481) O-Ring GUAR-028 (Ø1.78x44.17) Screw VITE-027 (M5x10 mm DIN912 INOX A2) O-Ring GUAR-029 (Ø1.78x4.48) Dynamic gasket GUAR-026P (45x36x3) Elastic pin SPINA-039 (Ø8x24 mm DIN1481) Dowel pin SPINA-023 (Ø4x12 mm DIN6325) Screw VITE-009 (M4x8 mm DIN912 INOX A2) Screw VITE-035 (M3x8 mm DIN965A INOX A2)

13 COMPRESSED AIR SUPPLY The gripper is pressurized from the side ports (P and R) using proper fittings and tubing (not supplied). Filter the air 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 R PNEUMATIC CIRCUIT Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurizing the empty gripper at start-up 3- Sudden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- Start-up valve (B). 3- Safety valves (C). 4- Flow controllers (D). 304