Sizes Weight Gripping moment Angle per jaw Workpiece weight Pieces : 1 20 kg 180 Nm kg. PZH-SF Finger Centric Gripper
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1 Sizes Weight Gripping moment Angle per jaw Workpiece weight Pieces : 1 20 kg 180 Nm kg Application example PZH-SF Finger Centric Gripper Gamma Gantry Linear Module Gamma Gantry Linear Module
2 Universal Gripper Universal 3-Finger centric gripper with a large, rotary finger stroke capable of handling a broad range of workpiece sizes and a round guidance which is protected against dirt. Field of application Clean to slightly dirty working environments, especially suitable for the handling of car rims Your advantages and benefits Rotating Finger for a large stroke for a large workpiece size range or for gripping in an undercut section Rack and pinion principle for high power transmission and synchronized gripping Simple jaw connection for customer specific jaw attachment Universally applicable for internal and external gripping Comprehensive sensor accessory program for versatile interrogation possibilities and control of stroke position Current robot adaptions available according to ISO 50, 63, 100, 125 and 160 General note to the series Operating Principle double acting piston with gear drive Housing material hard-anodized, high strength aluminum Base jaw material Aluminum alloy, hard-anodized Actuation pneumatic, with filtered compressed air (10 microns): dry, lubricated or non-lubricated Pressure medium: Required quality class of compressed air according to DIN ISO : Warranty 24 months (details, general terms and conditions and operation manuals can be downloaded under ) Scope of delivery Assembly and operating manual with manufacturer s declaration Gripping force maintenance device possible with SDV-P pressure maintenance valve
3 Sectional diagram Base jaws for the connection of workpiece-specific gripper fingers Drive principle of pinions and racks for high power transmission and centric gripping Housing weight-optimized through application of hardanodized, high-strength aluminum alloy Robust bearings for precise gripping with minimal play at a high load capacity Functional description The base jaws are driven and synchronized by applying pressure to opposite sides of each piston which then translate the linear motion into rotary motion via a rack and pinion. Options and special information Workpiece dimensions and workpiece weights By having indexable fingers, the gripper is extremely flexible and able to handle a wide range of workpiece sizes. Furthermore, the base jaw lengths and finger diameter are adjustable based on the required grip force or dimensions of the workpiece. Please contact us for further details.
4 Accessories Accessories from SCHUNK the suitable supplement for maximum functionality, reliability and performance of all automation modules. Magnetic Switches Inductive proximity switches Sensor cables Sensor Distributor Fittings Pressure maintenance valve i For the exact size of the required accessories, availability of this size and the designation and ID, please refer to the additional views at the end of the size in question. You will find more detailed information on our accessory range in the Accessories catalog section. General note to the series Gripping moment Gripping moment is the arithmetic total of gripping moments for each claw jaw. Finger length is measured from the upper edge of the gripper housing in direction to the main axis. If the max. admissible finger length is exceeded, the speed of jaw motions have to be reduced and/or the opening angle has to be diminished, as it is done with heavy fingers. The service life of the gripper can shorten. Repeat accuracy is defined as the spread of the limit position after 100 consecutive strokes. Workpiece weight is calculated for a friction grip using a coefficient of friction of 0.1, the given finger length and workpiece dimension and a safety factor of 2 to prevent against workpiece slippage due to gravity. Considerably heavier workpiece weights are permitted when using form-fitted fingers. Closing and opening times are purely the times that the base jaws or fingers are in motion. Valve switching times, hose filling times or PLC reaction times are not included in the above times and must be taken into consideration when determining cycle times.
5 Gripping force, O.D. gripping Gripping force Finger load Gripping diameter Gripping force, I.D. gripping Gripping force Mmax. x Mmax. y Fmax. z 129 Nm 129 Nm 8000 N Gripping diameter i The indicated moments and forces are statical values, apply for each base jaw and should not appear simultaneously. If the maximum admissible finger weight is exceeded, throttling is necessary in order to ensure a smooth jaw motion without jerks or bounces. The lifetime may reduce. Technical data Description PZH-SF 350 ID Closing force [N] 1575 Opening force [N] 1515 Opening angle per jaw [ ] 59.7 Closing moment [Nm] 180 opening moment [Nm] 180 Weight [kg] 20 Recommended workpiece weight* [kg] 8 Fluid consumption per double stroke [cm³] 675 Min./max. operating pressure [bar] 2.5/9 Nominal operating pressure [bar] 6 Closing/opening time [h][s] 0.5/0.5 Max. permitted finger length [mm] 140 Max. permitted weight per finger [kg] 1.5 IP class 40 Min./max. ambient temperature [ C] -10/90 * The recommended workpiece weight is calculated for a friction grip using a coefficient of friction of 0.1, a reasonable finger length of 116mm, a workpiece dimension of 175mm and a safety factor of 2 to prevent against workpiece slippage due to gravity. Considerably heavier workpiece weights are permitted when using form-fitted fingers. The gripping force can be seen as a function of the base jaw position (BS1/BS2), the gripped workpiece diameter and the finger length, L. The finger length is measured from the top of the gripper housing to the gripping force application point.
6 Main view The drawing shows the basic version of the gripper without considering the following described options. i The SDV-P pressure maintenance valve can be used as a gripping force maintenance device (see Accessories catalog section). A, a Main/direct connection, gripper opening B, b Main/direct connection, gripper closing 1 Gripper connection IT Mounting for optional inductive sensors IK For direct mounting to an ISO A-125 flange. IL For direct mounting to an ISO A-160 flange. IM ISO A-125
7 Position of base jaws Finger design IT Jaw position 1 IK Jaw position 2 IL minimal gripping diameter with jaw position 1 IM maximum gripping diameter with jaw position 1 IN minimum gripping diameter with jaw position 2 IO maximal gripping diameter with jaw position 2 The base jaws can be indexed 45o with respect to the starting position. The specified diameters are valid for external gripping of workpieces. Internal gripping diameters can be determined accordingly. In addition, different base jaw lengths and finger diameters with respect to the required grip force and workpiece dimensions can be adapted. We can assist you with questions. IT Interface for connecting customer specific fingers. The gripper comes delivered with the fingers as shown in the drawing. Custom fingers can be easily integrated or supplied. The finger interface should be desiged as shown in the drawing. We can assist you with the finger design. Mounting kit for proximity switch IN 80 Description ID Mounting kit for proximity switch AS-NHS-PZH-SF
8 Inductive proximity switches IN 80 AQ Cable outlet IT IN... IK IN...-SA End position monitoring mounted with mounting kit Description ID Recommended product Mounting kit for proximity switch AS-NHS-PZH-SF Inductive proximity switches IN 80-S-M IN 80-S-M IN-C 80-S-M INK 80-S INK 80-SL Inductive proximity switch with lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extensions KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP Connection cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor Distributor V 2-M V 2-M V 4-M V 4-M V 8-M V 8-M
9 Electronic magnetic switches MMS Programmable Magnetic Switch MMS PI1 AQ Cable outlet IT MMS End position monitoring for mounting in the C-slot IK MMS SA Description ID Recommended product Electronic magnetic switches MMS MMS 22-S-M8-NPN MMS 22-S-M8-PNP MMSK 22-S-NPN MMSK 22-S-PNP Electronic magnetic switches MMS with lateral cable outlet MMS 22-S-M8-NPN-SA MMS 22-S-M8-PNP-SA MMSK 22-S-NPN-SA MMSK 22-S-PNP-SA Cable extensions KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP Connection cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-NPN KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-NPN KA BW08-L 3P-0500-PNP Sensor Distributor V 2-M V 4-M V 8-M AQ Cable outlet IK MMS PI1-...-SA IT MMS PI1-... Position monitoring with one programmable position per sensor and in the sensor integrated electronic. The end position monitoring is mounted in the C-slot. Description ID Recommended product Programmable Magnetic Switch MMS PI1 MMS 22-PI1-S-M8-NPN MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-NPN MMSK 22-PI1-S-PNP Programmable Magnetic Switch MMS PI1-HD with stainless steel housing MMS 22-PI1-S-M8-NPN-HD MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-NPN-HD MMSK 22-PI1-S-PNP-HD Programmable Magnetic Switch MMS PI1 with lateral cable outlet MMS 22-PI1-S-M8-NPN-SA MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-NPN-SA MMSK 22-PI1-S-PNP-SA Cable extensions KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP Connection cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-NPN KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-NPN KA BW08-L 3P-0500-PNP Sensor Distributor V 2-M V 4-M V 8-M
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