Toggle Type Air Gripper

Transcription

1 ø2, ø40, ø50, ø6 Ideal for gripping heavy workpiece Toggle mechanism is adopted. Holds workpiece even when pressure drops. The toggle mechanism that activates when the finger closes realizes strong and stable gripping force. The mechanism also holds workpiece even when pressure drops. ore size (mm) Gripping moment (Effective value) (N m) Easy maintenance Compact cylinder series CDQ2 is employed. is attachable It is possible to select from a variety of auto switches compatible with the compact cylinder series CDQ2. high degree of freedom for mounting variety of mounting screws are available, such as screws for air gripper mounting, brackets to prevent workpiece deflection and etc. Vertical mounting xial mounting Lateral mounting M 64

2 Size: 2, 40, 50, 6 How to Order Toggle type air gripper 2 Number of fingers 2 2 fingers 2 ore size 2 2mm 40 40mm 50 50mm 6 6mm Port thread type Symbol Nil TN TF Type Rc NPT G D MW Number of auto switches Nil 2 pcs. S pc. n n pcs. Nil Without auto switch (uilt-in magnet) For the applicable auto switch model, refer to the table below. Made to Order (Refer to page 645 for details.) D ction Double acting pplicable uto Switch/Refer to pages 76 to 80 for further information on auto switches. Type Solid state switch Reed switch Special function Diagnosis (2-color indication) Water resistant (2-color indication) With diagnosis output (2-color indication) Diagnosis (2-color indication) Electrical entry Connector Connector 0.5 m m m 5 m None Indicator light Yes Yes Wiring (Output) -wire (NPN) -wire (PNP) 2-wire -wire (NPN) -wire (PNP) 2-wire -wire (NPN) -wire (PNP) 2-wire 4-wire -wire (NPN) No 2-wire Yes No Yes (Example) (Example) (Example) (Example) N (Example) 24 V 24 V DC Load voltage 5 V, 2 V 2 V 5 V, 2 V 2 V 5 V, 2 V 2 V 5 V, 2 V C 5 V 200 V 2 V 00 V 5 V, 2 V 00 V or less 2 V 5 V, 2 V 24 V or less model Electrical entry direction Perpendicular MNV MPV MV J7C MNWV MPWV MWV MNV MPV MV 6V 72 V 0V 7C 80C 7W In-line MN MP M MNW MPW MW MN MP M F7F 6 72H 0 Lead wire length (m) 0.5 (Nil) (M) (L) 5 (Z) None (N) Pre-wired connector marked solid state auto switches are produced upon receipt of order. pplicable load IC circuit IC circuit IC circuit IC circuit IC circuit Refer to page 652 for details, because there are other auto switches available than above models. Refer to pages 76 and 77 for the details of the auto switches with a pre-wired connector. When D- and M (ø2 to ø50) are mounted on a place other than the port surface, please order auto switch mounting brackets separately. Refer to page 65 for details. IC circuit IC circuit Relay, PLC Relay, PLC 644

3 Ideal for gripping heavy workpiece. The toggle mechanism holds workpiece even when pressure drops. is attachable. Model/Specifications Model 2-2D 2-40D 2-50D 2-6D ore size (mm) ction Fluid Operating pressure Double acting ir 0. to 0.6MPa mbient and fluid temperature Lubrication Not required Finger opening angle (Total) Mass (kg) Gripping moment Note) (Effective value) (N m) Note) t the pressure of 0.5 MPa Made to Order (Refer to pages 68 to 7 for details.) Symbol Specifications/Description -X4 Heat resistance (00 C) -X5 Fluororubber seal -X6 Fluorine grease -X5060 Double rod cylinder -X5070 With boss in head side M 645

4 Effective Gripping Force Workpiece gripping point should be within the range indicated in the graph. L = 00 mm Gripping force (N) Pressure 0.6 MPa L Gripping point distance (mm) Opening/Closing angle (oth sides) L = 20 mm Indication of effective gripping force The effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. Gripping force (N) Opening/Closing angle (oth sides) Pressure 0.6 MPa L = 50 mm Gripping force (N) Pressure 0.6 MPa Precautions e sure to read before handling. Refer to front matters 8 and for Safety Instructions and pages 58 to 65 for ir Gripper and uto Switch Precautions. Warning Maintenance If a workpiece is to be gripped by using the toggle, make sure to periodically check that the workpiece has not shifted during the acceleration of the movement. If the workpiece is not gripped in a stable manner, it could shift or drop and create a dangerous situation. If the workpiece is not gripped in a stable manner, use shims on the attachment to adjust the gripped. To verify the gripping condition or to make any adjustments, make sure to do so in an area where the air gripper or the workpiece will not fall. 646 Gripping force (N) Opening/Closing angle (oth sides) Pressure 0.6 MPa Opening/Closing angle (oth sides) L = 80 mm

5 Construction Component Parts No Description Side plate Finger Lever Joint Shaft Joint pin Cylinder plate Lever pin earing Cylinder Material luminum alloy Carbon steel Carbon steel Carbon steel Stainless steel Stainless steel Soft steel Stainless steel Note Hard anodized lack zinc chromated lack zinc chromated lack zinc chromated lack zinc chromated Steel lined oil imfilled acetal resin bearing Compact cylinder Replacement Parts Description Finger assembly Lever assembly Link parts assembly Compact cylinder 2-2D MH-T20 MH-T202 MH-T20 CDQ22-5D 2-40D MH-T400 MH-T4002 MH-T400 CDQ240-5D For finger assembly, lever assembly, order 2 pieces per one unit. Replacement part/grease pack part no. For finger part: MH-G0 (0 g) For cylinder part: GR-S-00 (0 g) 2-50D MH-T500 MH-T5002 MH-T500 CDQ250-20D 2-6D MH-T60 MH-T602 MH-T60 CDQ26-20D Main parts wo e ø2, ø40 weryio ø50, ø6 werio!0 ttachment Design Use shims for fine adjustment of the attachment. M Shim 647

6 Dimensions 2-2D 8 x M6 x mounting thread Thread depth 0 (oth sides) 4 x M6 x thread depth 0 Rc 8 (G 8, NPT 8 ) Finger closing port Rc 8 (G 8, NPT 8 ) Finger opening port 4 x M6 x thread depth 5 4 x M6 x bottom hole dia. 5. through Thread for mounting attachment 2-40D 8 x M8 x.25 mounting thread Thread depth 0 (oth sides) 4 x M6 x thread depth 0 Rc 8 (G 8, NPT 8 ) Finger closing port Rc 8 (G 8, NPT 8 ) Finger opening port 4 x M8 x.25 thread depth 2 4 x M8 x.25 bottom hole dia. 6.8 through Thread for mounting attachment 648

7 Dimensions 2-50D 8 x M0 x.5 mounting thread Thread depth 2 (oth sides) 4 x M8 x.25 thread depth 4 Rc 4 (G 4, NPT 4 ) Finger closing port Rc 4 (G 4, NPT 4 ) Finger opening port 4 x M0 x.5 bottom hole dia. 8.6 through Thread for mounting attachment 4 x M0 x.5 thread depth 2 through 2-6D 8 x M2 x.75 mounting thread Thread depth 7 (oth sides) 4 x M0 x.5 thread depth 8 Rc 4 (G 4, NPT 4 ) Finger closing port Rc 4 (G 4, NPT 4 ) Finger opening port M 4 x M2 x.75 bottom hole dia. 0.4 Thread for mounting attachment 4 x M2 x.75 thread depth 0 64

8 uto Switch Installation Examples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. Detection when Gripping Exterior of Workpiece Detection example. Confirmation of fingers in reset position 2. Confirmation of workpiece held. Confirmation of workpiece released Position to be detected Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed Operation of auto switch turned ON when fingers return. (Light ON) turned ON when gripping a workpiece. (Light ON) When a workpiece is held (Normal operation): to turn OFF (Light not illuminating) When a workpiece is not held (bnormal operation): to turn ON (Light illuminating) Detection combinations One auto switch Two auto switches How to determine auto switch installation position Step ) Fully open the fingers. Step ) Position fingers for gripping a workpiece. Step ) Position fingers for gripping a workpiece. t no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. Step 2) Insert the auto switch into the auto switch installation groove in the direction shown in the following drawing. Step ) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step ) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position 0. to 0.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Step 4) Slide the auto switch further in the direction of the arrow until the indicator light goes out. 0. to 0.5 mm Step 5) Move the auto switch in the opposite direction and fasten it at a position 0. to 0.5 mm beyond the position where the indicator light illuminates. Position to be secured Position where light turns ON Position to be secured 0. to 0.5 mm 650 Note ) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc.

9 Proper uto Switch Mounting Position and Height D- D- V D-M V D-M W D-M WV D-M L D-M VL 25 U C Proper uto Switch Mounting Position D-M model D-M V D-M W D-M WV D-M L D-M VL ore size C uto Switch Mounting Height ore size D- D- V D-M D-M V D-M W D-M WV D-M L D-M VL U D (mm) D- D- V C D (mm) D Note) The actual mounting position should be adjusted after confirming the auto switch performance. model Note) Dimensions when mounted with an auto switch mounting bracket (Q2-02). M 65

10 Proper uto Switch Mounting Position D-7 D-80 D-7 H D-80H D-7C D-80C D-F7L D-F7VL D-F7 D-J7 D-F7 V D-J7C D-F7 W D-F7F D-F7 WV D-J7W D-7W model ore size D-7 D D-7 H/80H D-7C/80C D-F7L D-F7VL D-F7 /J7 D-F7 V/J7C D-F7 W/F7F D-F7 WV D-J7W D-7W (mm) Note) The actual mounting position should be adjusted after confirming the auto switch performance. uto Switch Hysteresis The auto switches below are also mountable in addition to the models in How to Order. Hysteresis operating position (ON) reset position (OFF) type Solid state switch Reed switch Model D-F7NV, F7PV, F7V D-F7NWV, F7WV D-F7VL D-F7, F7P, J7 D-F7W, F7PW, J7W D-F7L D-F7NTL D-7 D-80 D-7H, 76H D-80H Electrical entry (direction) (Perpendicular) (In-line) (Perpendicular) (In-line) Characteristics Diagnosis (2-color indication) Water resistant (2-color indication) Diagnosis (2-color indication) Water resistant (2-color indication) With timer Without indicator light Without indicator light Solid state auto switches are also available with a pre-wired connector. Refer to pages 76 and 77 for details. ir gripper model 2-2D 2-40D 2-50D 2-6D 652 Hysteresis degree (Max. value)

11 uto Switch Mounting racket : Part. No mounting surface ore size (mm) ø2, ø40, ø50 ø6 Port side Port side C C model Port side mounting surface mounting surface,, C Port,,, C sides D- D- V D-M D-M V D-M W D-M WV D-M L D-M VL mounting bracket not necessary. q Set screw (Not used) w mounting bracket not necessary. Note ) When a compact auto switch is mounted on the three sides other than the port side (, and C in the above figure), auto switch mounting brackets are necessary. Order them separately from the actuator. (The above is applied when a compact auto switch is mounted on the auto switch mounting rail without using the ø6 compact auto switch mounting groove.) 2-2D-MW Q-2 2 pcs. Q pcs. Note 2) mounting brackets and the auto switch are shipped together with the actuator. model ø2 to ø25 D-7 /80 D-7C/80C D-7 H/80H D-7W D-F7 /J7 D-F7 V Q- D-J7C D-F7 W/J7W D-F7 WV D-F7L/F7VL D-F7F/F7NTL ore size (mm) ø2 ø40 to ø00 Q-2 Note ) mounting brackets and the auto switch are shipped together with the actuator. Details of stainless steel mounting screw set Part no. 2 No. 2 Description mounting screw Content mounting nut (Square nut) mounting nut (convex shape) Size M x 0.5 x 6L M x 0.5 x 8L M x 0.5 x 0L M x 0.5 M x 0.5 mounting bracket mass Mounting bracket part no. pplicable cylinder bore size Q-2 ø2 to ø6 QP-050 ø40 to ø6 Mass (g).5 6 Use the stainless steel mounting screw set below (including nuts) depending on the operating environment. (n auto switch spacer (for Q-2) is not included. Please order it separately.) 2: For types D-7, 8, F7, and J7 The above stainless steel screws are used for types D-F7L and F7VL switches when they are shipped with mounted cylinders. Furthermore, 2 is included when an auto switch is shipped as a single unit. Note 4) Refer to the table below for the details of 2. Note 5) When type D-M (V) L is added, please order separately the stainless steel screw set 2 and Q2-02S as a set. Quantity pplicable auto switch mounting bracket part no. MU-025 Q- Q-2 Q- Q-2 pplicable auto switch Type D-7/8 Type D-F7/J7 Note ) spacer for Q-2 (lack resin) is not included. Note 2) When types D- (V), M (V), M W(V) and M (V)L auto switches are used with Q2-02S, use stainless steel screws equivalent to auto switch mounting brackets compatible with each cylinder series. 65 M