Product Information. Angular parallel gripper GAP

Transcription

1 Product Informaton GAP

2 GAP More flexble Productve. Narrower. GAP angular parallel grpper 2-fnger angular parallel grpper wth grpper fnger actuaton of up to 90 degrees per jaw Feld of applcaton Grppng and movng small to medum workpeces n low contamnaton envronments Advantages Your benefts Postvely drven angle and parallel stroke n one functonal unt Absolutely clampng n parallel stroke for hghest postonng accuracy Stable knematcs for hgh power transmsson and synchronzed grppng Hgh grppng force n parallel stroke Openng angle of jaws up to 180 for maxmum flexblty n applcatons Integraton of a grppng force mantenance s optonal for frm grp even n the event of power falure End-poston montorng wth optonal standardsed montorng sets Standardzed mountng bores for numerous combnatons wth other components from the modular system Szes Quantty: 3 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 GAP Functonal descrpton The pston s moved up or down wth compressed ar. The base jaws are frst put nto a rotatng and then nto a parallel movement va the toggle-lever knematcs. GAP double-actng pston drve system 1 Drve 2 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 3 Base jaw seated for rotary movement over hardened cylndrcal pvot pns 4 Knematcs Postvely drven toggle-jont knematcs for rotatng and parallel movement 5 Base Jaws for the connecton of workpece-specfc grpper fngers CAD data, operatng manuals and other current product documents can be found onlne. 3

4 GAP General notes about the seres Operatng prncple: Postvely drven toggle-jont knematcs Housng materal: Alumnum alloy, anodzed Base jaw materal: Steel Actuaton: pneumatc, wth fltered compressed ar as per ISO :2010 [7:4:4]. Warranty: 24 months Scope of delvery: Centerng sleeves, O-rngs for drect connecton, assembly and operatng manual wth manufacturer s declaraton Grppng force mantenance: possble by usng the verson wth mechancal grppng force mantenance or SDV-P pressure mantenance valve 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.the maxmum permssble fnger length apples untl the nomnal operatng pressure s acheved. Wth hgher pressures, the fnger length must be reduced proportonally to the nomnal operatng pressure. 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. Valve swtchng tmes, hose fllng tmes, or PLC reacton tmes are not a part of ths and are to be consdered when cycle tmes are calculated. Applcaton example Electrc lnear gantry to center or reposton small components. 1 ELS compact lnear module 2 GAP 2-fnger angular parallel grpper 3 Delta flat lnear module wth toothed-belt drve 4

5 GAP SCHUNK offers more... The followng components make the product GAP even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Sensor system Pllar assembly systems Adapter plates Sensor cables LPP lne gantry, pneumatc Centerng sleeves Pressure mantenance valve Fttngs LM lnear module Rotary Actuator SRU-plus 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 Grppng force mantenance verson AS / IS: The mechancal grppng force mantenance verson ensures a mnmum grppng force also n the case of a drop n pressure. In the AS / S verson ths has the effect of a closng force, n the IS verson of an openng force Shock absorber verson: A shock absorber verson s avalable for partcularly dampng-ntensve movements. Please ask for detals. As standard, ths module can be combned wth numerous components from the modular system. We would be happy to assst you. 5

6 GAP 20 Grppng force, O.D. grppng Fnger load Grppng force Max. permssble nerta J* Pont P - Fnger length M x max. 4.9 Nm M y max. 4.7 Nm M z max. 1.2 Nm F z max. 240 N Inerta 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. Closng/openng tme Techncal data Descrpton GAP GAP GAP ID Stroke per jaw [mm] Closng / openng force [N] 92/- 92/- 92/- Openng angle per jaw [ ] Weght [kg] Recommended workpece weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 2.5/7 2.5/7 2.5/7 Nomnal operatng pressure [bar] Closng/openng tme [s] 0.09/ / /0.15 Max. permssble fnger length [mm] Max. permssble mass per fnger [kg] Max. permssble mass moment of nerta per chuck jaw* [kgcm²] Protecton class IP Mn./max. ambent temperature [ C] 5/60 5/60 5/60 Repeat accuracy [mm] Optons and ther characterstcs Grppng force mantenance verson GAP AS GAP AS GAP AS ID Closng / openng force [N] 150/- 150/- 150/- Mn. sprng force [N] Weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 4.5/ / /6.5 Closng/openng tme [s] 0.12/ / /0.14 Shock absorber verson GAP S GAP S GAP S ID Weght [kg] Closng/openng tme [s] 0.07/ / /0.13 *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 6

7 GAP 20 Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT See the techncal data for "openng angle per jaw" Max. permssble nerta J* Inerta Max. permssble nerta J* Inerta Closng/openng tme Closng/openng tme *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 7

8 GAP 20 Hose-free drect connecton M3 Grppng force mantenance AS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance ensures that a mnmum grppng force wll be appled even f there s a drop n pressure. Ths acts on the closng force. The grppng force mantenance can also be used to ncrease the grppng force or for one-way grppng. Fnger desgn Verson wth shock absorbers The drawng shows a suggerstonof how to desgn the grpper fngers. A (mn.) B (max.) C (max.) D [mm] [mm] [mm] [mm] In the shock absorber varant, the openng movement of the fngers s braked va hydraulc shock absorbers. Therefore faster openng tmes are acheved. 8

9 GAP 20 Electronc magnetc swtches MMS AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA 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 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA 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. 9

10 GAP 28 Grppng force, O.D. grppng Fnger load Grppng force Max. permssble nerta J* Pont P - Fnger length M x max. 8.6 Nm M y max. 8.4 Nm M z max. 2.2 Nm F z max. 360 N Inerta 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. Closng/openng tme Techncal data Descrpton GAP GAP GAP ID Stroke per jaw [mm] Closng / openng force [N] 180/- 180/- 180/- Openng angle per jaw [ ] Weght [kg] Recommended workpece weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 2.5/7 2.5/7 2.5/7 Nomnal operatng pressure [bar] Closng/openng tme [s] 0.17/ / /0.3 Max. permssble fnger length [mm] Max. permssble mass per fnger [kg] Max. permssble mass moment of nerta per chuck jaw* [kgcm²] Protecton class IP Mn./max. ambent temperature [ C] 5/60 5/60 5/60 Repeat accuracy [mm] Optons and ther characterstcs Grppng force mantenance verson GAP AS GAP AS GAP AS ID Closng / openng force [N] 270/- 270/- 270/- Mn. sprng force [N] Weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 4.5/ / /6.5 Closng/openng tme [s] 0.2/ / /0.24 Shock absorber verson GAP S GAP S GAP S ID Weght [kg] Closng/openng tme [s] 0.13/ / /0.2 *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 10

11 GAP 28 Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT See the techncal data for "openng angle per jaw" Max. permssble nerta J* Inerta Max. permssble nerta J* Inerta Closng/openng tme Closng/openng tme *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 11

12 GAP 28 Hose-free drect connecton M3 Grppng force mantenance AS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance ensures that a mnmum grppng force wll be appled even f there s a drop n pressure. Ths acts on the closng force. The grppng force mantenance can also be used to ncrease the grppng force or for one-way grppng. Fnger desgn Verson wth shock absorbers The drawng shows a suggerstonof how to desgn the grpper fngers. A (mn.) B (max.) C (max.) D [mm] [mm] [mm] [mm] In the shock absorber varant, the openng movement of the fngers s braked va hydraulc shock absorbers. Therefore faster openng tmes are acheved. 12

13 GAP 28 Electronc magnetc swtches MMS AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA 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 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA 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. 13

14 GAP 32 Grppng force, O.D. grppng Fnger load Grppng force Max. permssble nerta J* Pont P - Fnger length M x max Nm M y max Nm M z max. 4 Nm F z max. 590 N Inerta 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. Closng/openng tme Techncal data Descrpton GAP GAP GAP ID Stroke per jaw [mm] Closng / openng force [N] 250/- 250/- 250/- Openng angle per jaw [ ] Weght [kg] Recommended workpece weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 2.5/7 2.5/7 2.5/7 Nomnal operatng pressure [bar] Closng/openng tme [s] 0.22/ / /0.35 Max. permssble fnger length [mm] Max. permssble mass per fnger [kg] Max. permssble mass moment of nerta per chuck jaw* [kgcm²] Protecton class IP Mn./max. ambent temperature [ C] 5/60 5/60 5/60 Repeat accuracy [mm] Optons and ther characterstcs Grppng force mantenance verson GAP AS GAP AS GAP AS ID Closng / openng force [N] 430/- 430/- 430/- Mn. sprng force [N] Weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 4.5/ / /6.5 Closng/openng tme [s] 0.25/ / /0.34 Shock absorber verson GAP S GAP S GAP S ID Weght [kg] Closng/openng tme [s] 0.14/ / /0.24 *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 14

15 GAP 32 Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng 1 Grpper connecton 2 Fnger connecton GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT See the techncal data for "openng angle per jaw" Max. permssble nerta J* Inerta Max. permssble nerta J* Inerta Closng/openng tme Closng/openng tme *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. *The unt can be actuated wthout an external customzed throttlng at the gven value of max. mass moment of nerta per jaw. In case of hgher mass moments of nerta, an addtonal throttlng s possble. 15

16 GAP 32 Hose-free drect connecton M3 Grppng force mantenance AS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance ensures that a mnmum grppng force wll be appled even f there s a drop n pressure. Ths acts on the closng force. The grppng force mantenance can also be used to ncrease the grppng force or for one-way grppng. Fnger desgn Verson wth shock absorbers The drawng shows a suggerstonof how to desgn the grpper fngers. A (mn.) B (max.) C (max.) D [mm] [mm] [mm] [mm] In the shock absorber varant, the openng movement of the fngers s braked va hydraulc shock absorbers. Therefore faster openng tmes are acheved. 16

17 GAP 32 Electronc magnetc swtches MMS AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA 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 MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA 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. 17

18 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for safe, precse grppng and holdng. schunk.com/lehmann SCHUNK GmbH & Co. KG