Product Information. Universal gripper PGN-plus-E

Transcription

1 Product Informaton PGN-plus-E

2 PGN-plus-E Relable. Robust. Flexble. PGN-plus-E unversal grpper Unversal, Electrc 2-Fnger Parallel Grpper wth permanent lubrcaton, large grppng force and hgh maxmum moments thanks to mult-tooth gudance. Feld of applcaton Optmal standard soluton for many felds of applcaton. For unversal use n clean to slghtly drty envronments. Advantages Your benefts Robust mult-tooth gudance for precse handlng Hgh maxmum moments possble sutable for usng long grpper fngers Lubrcant pockets n the mult-tooth gudance Ensure process relablty and extended mantenance ntervals Brushless DC servomotor for almost wear-free use and a long servce lfe Control va dgtal I/O for easy commssonng and rapd ntegraton nto exstng systems Four-step adjustable grppng force for smple adapton to senstve workpeces Mountng from two sdes n three screw drectons for unversal and flexble grpper assembly Integrated sensor system and comprehensve sensor accessory program for versatle queryng possbltes and stroke poston montorng Szes Quantty: 1 Weght 1.01 kg Grppng force 570 N Stroke per jaw 8 mm Workpece weght 2.85 kg 2

3 PGN-plus-E Functonal descrpton The brushless servomotor forces the wedge hook up or down va a ball-and-screw spndle drve. Through ts angled actve surfaces, the wedge-hook transforms ths moton nto the horzontal, synchronous movement of the base jaws. PGNplus-E 1 Mult-tooth gudance loads wth larger gudance shoulders. Hghest servce lfe wth lubrcaton pockets n the robust mult-tooth gudance, as well as hgher possble fnger 2 Base Jaw wth standardzed screw connecton dagram for the connecton of the workpece-specfc grpper fngers 3 Sensor system Integrated proxmty swtches and adjustable control cams n the housng 4 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 5 Centerng and mountng possbltes for unversal assembly of the grpper 6 Wedge-hook desgn for hgh power transmsson and mnmal wear as a result of larger dagonal pull surfaces 7 Spndle nut transforms the rotatonal movement nto the axal movement of the wedge-hook 8 Drve Brushless DC servomotor CAD data, operatng manuals and other current product documents can be found onlne. 9 Control electroncs Integrated control and power electroncs for decentralzed control of the servomotor 3

4 PGN-plus-E General notes about the seres Operatng prncple: Wedge-hook knematcs Housng materal: Alumnum alloy, coated Base jaw materal: Steel Actuaton: servo-electrc, va brushless DC servomotor Warranty: 24 months Scope of delvery: Accessory pack wth centerng sleeves and assembly and operatng manual wth declaraton of ncorporaton Grppng force: s the arthmetc total of the grppng force appled to each grpper jaw at dstance P (see llustraton). Fnger length: s measured from the reference surface as the dstance P n drecton to the man axs. 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: are purely the tmes that the base jaws or fngers are n moton. PLC reacton tmes are not a part of ths and are to be consdered when cycle tmes are calculated. Applcaton example Handlng tool n machnng centre for loadng and unloadng of raw materal and workpeces wth tool changer for the grppers. For storng the changer there are storage racks n use. 1 PGN-plus-E 2-fnger parallel grpper for handlng of raw materal 2 PGN-plus-E 2-fnger parallel grpper for processed workpeces 3 EWS Electrc tool changng system 4 SWM modular change system storage rack 4

5 PGN-plus-E SCHUNK offers more... The followng components make the product PGNplus-E even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Rotary modules Quck-Change-System Lnear modules Pllar assembly system Force-measurng jaws Fnger blanks Jaw quck-change system Room gantry electrc Sensor 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 Manually adjustable grppng force: Wth an ntegrated rotary swtch, the grppng force can be adjusted n four stages 100%, 75%, 50%, and 25%. Integrated sensor system: Two end postons can be montored va ntegrated nductve proxmty swtches. Optonal status montorng va external sensor system: The status of the grpper can also be montored by optonal external sensors. KA connecton cable: Connecton cables wth an angled or a straght female connector can be ordered to connect the grpper wth the power supply and hgher-level control system. 5

6 Grppng force Fnger load Grppng force Deratng* Fnger length M x max. 50 Nm M y max. 110 Nm M z max. 50 Nm F z max N max. permtted force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Ambent temperature Techncal data Descrpton PGN-plus-E 80-1 ID General operatng data Stroke per jaw [mm] 8 mn. / max. grppng force [N] 110/570 recommended workpece weght [kg] 2.85 max. admssble fnger length [mm] 125 max. admssble weght per fnger [kg] 0.6 Repeat accuracy [mm] 0.01 Closng/openng tme [s] 0.26/0.26 Weght [kg] 1.01 mn./max. ambent temperature [ C] 5/55 Protecton class IP 40 Nose emsson [db(a)] < 70 Electrcal operatng data Nomnal voltage [V DC] 24 Nomnal current [A] 0.7 max. current [A] 1.5 Controller electroncs ntegrated Communcaton nterface Dgtal I/O Number of dgtal nputs/outputs 2/2 *The dagram shows the maxmum admssble settng for grppng force dependng on the ambent temperature. 6

7 Man vew 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 IT Sensor MMS 22.. IL Screw connecton for customzed attachment IM M8, 4-pole (control) IN M8, 4-pole (sensors) Maxmum permtted fnger projecton Permtted range Inadmssble range 7

8 BSWS jaw quck-change jaw systems ZBA-L-plus 80 ntermedate jaws 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR 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 HK Not ncluded n the scope of delvery The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger Scope of delvery nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 80 1 Only systems that are lsted n the table, can be used. 8

9 Force-measurng jaws FMS-ZBA/ ZBP 80 Fnger blanks ABR- / SBR-PGZN-plus 80 1 Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. 2 Fnger connecton GL Ft for centerng sleeves IT ABR-PGZN-plus IK SBR-PGZN-plus The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 9

10 Modular Assembly Automaton Electronc magnetc swtches MMS 4 Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog Modular Assembly Automaton. AQ Cable outlet IT Sensor MMS 22.. 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 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 Programmable magnetc swtches MMS PI1 Programmable magnetc swtches MMS PI2 AQ Cable outlet GN Stop for MMS-P IT Sensor MMS 22 PI1-... AQ Cable outlet GN Stop for MMS-P IT MMS PI2-... sensor 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 stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng 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 PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtches MMS PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-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. Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 11

12 Programmable magnetc swtches MMS-P MMS-A analog poston sensor GN Stop for MMS-P Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P GN Stop for MMS-P No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Analog poston sensor MMS 22-A-10V-M MMS 22-A-10V-M One sensor s needed for each grpper. No addtonal attachment kt s needed the standard grpper s equpped for use of the MMS-A. Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 12

13 Flexble poston sensor wth MMS-A IT MMS 22-A-... sensor IK FPS-F5 evaluaton electronc IL Connecton cables Flexble poston montorng of up to fve postons. Descrpton ID Analog poston sensor MMS 22-A-05V-M clp for plug/socket CLI-M Evaluaton electroncs FPS-F Connecton cables KA BG16-L 12P When usng an FPS system, an MMS 22-A-05V, and evaluaton electroncs (FPS-F5) are requred for each grpper. An M16 connector s ncluded n the scope of delvery of the FPS-F5, whch can optonally be replaced by the connecton cable. 13

14 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