OPERATING INSTRUCTIONS FOR MINICLAMPS FOR ROBOT GRIPS

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1 OPERATING INSTRUCTIONS FOR MINICLAMPS FOR ROBOT GRIPS Operating instructions 01

MISATI, S.L., Av. de la Riera 15, E-08960 Sant Just Desvern Barcelona - Spain Tel. (+34) 93 440 47 27 - Fax. (+34) 93 448 05 75 misati@misati.com - www.misati.com System patented by MISATI, S.

2 MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern Barcelona - Spain Tel. (+34) Fax. (+34) misati@misati.com - System patented by MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern, Barcelona, Spain Tel Fax misati@misati.com -

3 Operating Instructions for Miniclamps for Robot Grips INDEX Range: Which Miniclamp Should I Use? OPERATION PRINCIPLE 05 TYPES OF MINICLAMPS 06 BALL-ENDED SCREW 08 SHIM KIT 09 JAW BLOCK 10 Use ADJUSTMENT OF THE FORCE OF THE MINICLAMPS 12 NON-REVERSIBLE MINICLAMPS 16 FORCE / α ANGLE 17 FORCE / LENGTH OF THE ARM 18 WEIGHT / ARM RADIUS RELATIONSHIP 19 RETENTION FORCE 20 MAXIMUM LATERAL FORCE 21 GUARANTEE 22 Maintenance MAINTENANCE: FORCE MECHANISM 24 MAINTENANCE: PNEUMATIC CYLINDER 25 MECHANICAL KIT 26 PNEUMATIC KIT 27 CHANGE OF THE ARM 29 03

4 Range: Which Miniclamp Should I Use? OPERATION PRINCIPLE 05 TYPES OF MINICLAMPS 06 BALL-ENDED SCREW 08 SHIM KIT 09 JAW BLOCK 10 System patented by MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern, Barcelona, Spain Tel Fax misati@misati.com

5 Range: Which Miniclamp Should I Use? OPERATION PRINCIPLE 1 2 CLOSING MINICLAMP Making force 3 4 The miniclamp has a double effect pneumatic cylinder which transmits a turning movement to the clamping arm along the shaft. Thanks to the special shape of the oblong hole, the miniclamp makes a big force. 5 OPENING MINICLAMP At rest 6 05

6 Range: Which Miniclamp Should I Use? TYPES OF MINICLAMPS TYPE PISTON DIAMETER CLAMPING FORCE * OPENING POSITION OF SHEET MOVABLE ARM WIDTH GL-...-RG-S0 GL-...-RG1-S0 Ø20 Ø DAN 329 DAN 90º HORIZONTAL GC-...-RG-S0 GC-...-RG1-S0 Ø20 Ø DAN 329 DAN 90º HORIZONTAL RC-32-S0 Ø32 43,4 dan VERTICAL TRANSVERSE 06

7 Range: Which Miniclamp Should I Use? TYPES OF MINICLAMPS TYPE PISTON DIAMETER CLAMPING FORCE * OPENING POSITION OF SHEET MOVABLE ARM WIDTH GL-...-SC-S0 GL-...-SCL-S0 Ø20 Ø DAN 329 DAN 90º HORIZONTAL GC-...-SC-S0 GC-...-SCL-S0 Ø20 Ø DAN 182 DAN º+45º 90º+90º VERTICAL HOT STAMPING CLAMP Prepared for transferring sheets up to 1,000 ºC All Minipincers can work under hot stamping conditions. Viton O-rings viton is a material which endures high temperatures. Rear Connections away from the heat source. Thermal Protective Coating made of fluoropolymer (Teflon). Bearings prepared and reinforced to better withstand heat. GL2-20-RG (EE-204/209) 07

.. RGI-... RP-... RGD-... RG-... RGI-... RN-.

.. B A ØB B D E Cº B Cº D ØA C D Cº C ØA Cº Weight (kg) ØA RP-08/D

steel & Delrin (RGD-...) Material: hardened steel (RP-..., RG-..., RGI-.

..) For very delicate pieces, it is recommended to use the Flat

.. RGD-20 0,011 RGD-32 0,021 RG-20 0,012 RG-32 0,022 RG-20-30 0,01

8 5º Range: Which Miniclamp Should I Use? BALL-ENDED SCREW FLAT SURFACE: RP-... RGD-... RIBBED SURFACE: RG-... RGI-... RP-... RGD-... RG-... RGI-... RN-... RP-... RGD-... RG-... RGI-... RN-... B A ØB B D E Cº B Cº D ØA C D Cº C ØA Cº Weight (kg) ØA RP-08/D 0,030-0,034 RP-10/D 0,063-0,072 Bolts included Material: hardened steel & Delrin (RGD-...) Material: hardened steel (RP-..., RG-..., RGI-..., RN-...) Material: neoprene (RN-...) For very delicate pieces, it is recommended to use the Flat Ball-Ended Screw RP-... or RGD-... RGD-20 0,011 RGD-32 0,021 RG-20 0,012 RG-32 0,022 RG ,01 RG ,02 RGI-20 0,01 RGI-30 0,02 Examples of applications RN-08/D 0,030-0,034 RGD-... RN-... RP-... RN TYPE A B C D RN-08/D 16 M RP RGD RG RGI TYPE ØA B C D TYPE A B C TYPE A B C TYPE A ØB C D E RP-08/D 16 M RGD-20 M8 41,6 0 RG-20 M RGI-20 M RP-10/D 20 M RGD-32 M10 51,9 0 RG-32 M RGI-32 M RG M RG M

9 Range: Which Miniclamp Should I Use? SHIM KIT C A B D GBK-20 GBK-32 Thickness Adjustment of 0 to 2mm can be made on jaw blocks SC-... with the shims in this kit (GBK-...). Examples of applications TYPE A B C D THICKNESS GBK GBK

10 = = Range: Which Miniclamp Should I Use? JAW BLOCK G B 3,1 A Area to be machined by the customer according to the surface to fasten. ØE H8 D 0,01 C F Material: steel Recommended treatment: quenching & tempering Examples of applications TYPE A B C D ØE F G A-SC M6 13 A-SC M8 17 A-SCL M6 13 A-SCL M

11 Use ADJUSTMENT OF THE FORCE OF THE MINICLAMPS 12 NON-REVERSIBLE MINICLAMPS 16 FORCE / α ANGLE 17 FORCE / LENGTH OF THE ARM 18 WEIGHT / ARM RADIUS RELATIONSHIP 19 RETENTION FORCE 20 MAXIMUM LATERAL FORCE 21 GUARANTEE 22 System patented by MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern, Barcelona, Spain Tel Fax misati@misati.com

Use HOW TO ADJUST THE FORCE OF A MINICLAMP GL-.../GC-.

have to loosen the nuts that hold the ribbed ball-ended screws (colour).

lower gripper finger or the static arm of the miniclamp.

one of the arms is considered as the static arm and the other as the moving arm.

In this position, the miniclamps is non-reversible, i.e., it will not open unless any compressed air is injected in it.

they contact the sheet without pressure.

This force should be enough to fasten the sheet correctly during the transfer process.

that we are using and the minimum working pressure into Take the sheet out carefully so

Then, with an Allen key, turn the screws clockwise the value from the table, assembling

12 Use HOW TO ADJUST THE FORCE OF A MINICLAMP GL-.../GC-... MINICLAMP 1 Open the miniclamps and place the sheet With the mobile arm open, you have to loosen the nuts that hold the ribbed ball-ended screws (colour). Turn the screws up until there is enough space to place a sheet between them and the lower gripper finger or the static arm of the miniclamp. In case of using a miniclamp with two moving arms, adjustment is done in the same way: one of the arms is considered as the static arm and the other as the moving arm. 2 Close the miniclamps Close the minipincer until it reaches the final position. In this position, the miniclamps is non-reversible, i.e., it will not open unless any compressed air is injected in it. miniclamps To close the miniclamp, you ll need to inject some compressed air into the hole with a + mark on Bring screws down With the arm closed, bring both screws over to the sheet until they contact the sheet without pressure. 4 Adjust the force We will begin by deciding the force we d like to obtain. This force should be enough to fasten the sheet correctly during the transfer process. Next, we will look for this value in the tables enclosed, taking the type of miniclamps that we are using and the minimum working pressure into Take the sheet out carefully so that you don t turn the screws. Then, with an Allen key, turn the screws clockwise the value from the table, assembling high security washers at a 35 Nm torque. The turn can be measured in degrees (α) or in height (H), i.e. the number of millimeters that the screw is moving, as you think best. Ejemplo: If we usually work at a pressure of 6 bar that sometimes falls to 5 bar, then we will look for a force to work at 5 bar. α H (mm) par=35 Nm 12

13 Use HOW TO ADJUST THE FORCE OF A MINICLAMP Esfuerzo recomendable Esfuerzo aconsejable Esfuerzo máximo GL-... MINICLAMP Ø20 MINIBRIDA GL-... Ø32 GIRO TORNILLO (α) H (mm) FUERZA (dan) GIRO TORNILLO (α) H (mm) FUERZA (dan) 107º 0, º 0, BAR 128º 0, º 0, º 0, º 1, º 0, º 0, BAR 170º 0, º 0, º 0, º 1, º 0, º 0, BAR 192º 0, º 1, º 0, º 1, BAR 5 BAR GIRO TORNILLO (α) MINIBRIDA GC2 Ø20 MINIBRIDA GC2 Ø32 H (mm) FUERZA (dan) GIRO TORNILLO (α) H (mm) FUERZA (dan) 156º 0, º 1, º 0, º 1, º 0, º 1, º 0, º 1,5 170 Ejemplo: Para obtener un esfuerzo de 102 dan con una brida GL que trabaja a un mínimo de 5 bar de presión, deberíamos girar los pisadores 170º, o hasta que hubieran bajado 0,60 mm. 0º 270º 90º 6 BAR 235º 0, º 1, º 0, º 1, º 170º Misati reserves Misati the reserva right el to derecho modify any a modificar characteristics cualquier of this característica. catalogue. Verifique Check el the último last nivel stage de of información information en in 13

Use HOW TO ADJUST THE FORCE OF A MINICLAMP GL...SC, SCL /GC.

loosen the nuts that hold the ribbed ball-ended screws (orange colour).

finger or the static arm of the miniclamp.

In this position, the minipincer is non-reversible, i.e., it will not open unless any compressed air is injected in it.

3 Bring screws down With the arm closed, bring both screws over to the sheet until they contact the

using and the minimum working pressure into account.

Then, with an Allen key, turn the screws clockwise the value from the table, assembling high

14 Use HOW TO ADJUST THE FORCE OF A MINICLAMP GL...SC, SCL /GC...SC, SCL MINICLAMP 1 Open the pincer and place the sheet With the mobile arm open, you have to loosen the nuts that hold the ribbed ball-ended screws (orange colour). Turn the screws up until there is enough space to place a sheet between them and the lower gripper finger or the static arm of the miniclamp. 2 Close the minipincer Close the minipincer until it reaches the final position. In this position, the minipincer is non-reversible, i.e., it will not open unless any compressed air is injected in it. To close the minipincer, you will need to inject some compressed air into the hole with a + mark on. 3 Bring screws down With the arm closed, bring both screws over to the sheet until they contact the sheet without pressure. 4 Adjust the force We will begin by deciding the force we d like to obtain. This force should be enough to fasten the sheet correctly during the transfer process. Next, we will look for this value in the tables enclosed, taking the type of minipincer that we are using and the minimum working pressure into account. Take the sheet out carefully so that you don t turn the screws. Then, with an Allen key, turn the screws clockwise the value from the table, assembling high security washers at a 35 Nm torque. The turn can be measured in degrees (α) or in height (H), i.e. the number of millimeters that the screw is moving, as you think best. For example: If we usually work at a pressure of 6 bar that sometimes falls to 5 bar, then we will look for a force to work at 5 bar. H (mm) par=35 Nm α 14

15 Use HOW TO ADJUST THE FORCE OF A MINICLAMP Minimum Force Recommended Force Maximum Force GL...SC Y SCL Ø20 MINICLAMPS GL...SC Y SCL Ø32 MINICLAMPS GALGA (mm) FUERZA (dan) GALGA (mm) FUERZA (dan) 0,3 54 0, BAR 0,4 81 0, , , ,4 67 0, BAR 0, , , , ,5 81 0, BAR 0, , , ,

Use NON-REVERSIBLE MINICLAMPS F E A=0.5-0 + 0,1 One of the main characteristics of our fastening element is its non-reversibility.

16 Use NON-REVERSIBLE MINICLAMPS F E A= ,1 One of the main characteristics of our fastening element is its non-reversibility. When the minipincer is making force and it s in a non-reversible position, no extern force F E can turn the arm, even though air pressure is missing; this way, the clamping force achieved is kept. In order to check if the miniclamp is in a non-reversible position, we will first adjust the desired force according to the information on the back of this page. Next, dimension A has to be checked according to the drawing to guarantee the non-reversibility of the arm. 16

17 Use FORCE / α ANGLE Depending on the angle of the arm at the clamping position, the force changes. TYPE-20 TYPE-32 r=50 r=50 17

Use FORCE / LENGTH OF THE ARM DISTANCE TO THE TURNING SHAFT GL-20 FORCE (dan) GL-32 30 200 500 40 150 375 50 120 300 60 100

α=0º P=6 bar The clamping force is determined by the distance between the turning centre and the point of contact.

18 Use FORCE / LENGTH OF THE ARM DISTANCE TO THE TURNING SHAFT GL-20 FORCE (dan) GL α=0º P=6 bar DISTANCE TO THE TURNING SHAFT GC-20 FORCE (dan) GC α=0º P=6 bar The clamping force is determined by the distance between the turning centre and the point of contact. The length and mass of the arm should be as small as possible. Apart from standard couplings, pneumatic cushioning will be necessary. 18

Use WEIGHT / ARM RADIUS RELATIONSHIP In order to limit the impact of the arm due to

requires a system of pneumatic cushioning and flow regulators.

graphs: TYPE Maximum Load Torque Cushioned Load Torque GL, GC-20 1Nm 0,15 Nm GL, GC-32

19 Use WEIGHT / ARM RADIUS RELATIONSHIP In order to limit the impact of the arm due to kinetic energy, the application of special couplings with an excess length or mass requires a system of pneumatic cushioning and flow regulators. We would advise to respect the weight/ length relationships, according to the following graphs: TYPE Maximum Load Torque Cushioned Load Torque GL, GC-20 1Nm 0,15 Nm GL, GC-32 1,25 Nm 0,33 Nm TYPE GL, GC-20 TYPE GL, GC-32 Weight (Kg) Weight (Kg) Centre of mass Weight (Kg) Weight (N) Weight (N) 19

Use RETENTION FORCE CLAMPS FOR HIGH LOADS GL-20 703 189,8 27

GC-32 148 235 33,75 Loads and torques appearing in these tables

20 Use RETENTION FORCE CLAMPS FOR HIGH LOADS GL ,8 27 GL , ,5 CLAMPS FOR HIGH LOADS GC ,75 GC ,75 Loads and torques appearing in these tables are in constant service. Values are higher with specific loads. 20

Use MAXIMUM LATERAL FORCE 32 TYPE F (dan) M (Nm) GL-20 440 220 GL-32 1184 592 Loads and

21 Use MAXIMUM LATERAL FORCE 32 TYPE F (dan) M (Nm) GL GL Loads and torques appearing in these tables are in constant service. Values are higher with specific loads. 21

Use GUARANTEE 001-01-15 Number of minipincer Month Year LI

22 Use GUARANTEE Number of minipincer Month Year LIFE MINICLAMP, which are identified in this certificate, are guaranteed by MISATI, S.L. for 7 YEARS against any manufacturing defect affecting their correct operation, as from the date of guarantee (indicated with number of minipincer, month and year on the actual minipincer). SCOPE The guarantee covers all faulty parts and labour required for their repair in our workshops during the guarantee period. GUARANTEE DOES NOT INCLUDE: Any possible damages occasioned by mishandling, inappropriate use, negligence, overloading or abandonment of the miniclamp, pressure increases, faulty installations and other external causes. Any repairs or adjustments carried out by people not connected with or expressly authorized by MISATI, S.L. Any parts prone to wear and tear. Damages caused by any machine downtime. 22

Maintenance MAINTENANCE: FORCE MECHANISM 24 MAINTENANCE: PNEUMATIC CYLINDER 25 MECHANICAL KIT 26 PNEUMATIC KIT 27 CHANGE OF THE ARM 29 System patented by

23 Maintenance MAINTENANCE: FORCE MECHANISM 24 MAINTENANCE: PNEUMATIC CYLINDER 25 MECHANICAL KIT 26 PNEUMATIC KIT 27 CHANGE OF THE ARM 29 System patented by MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern, Barcelona, Spain Tel Fax misati@misati.com

Maintenance MAINTENANCE: FORCE MECHANISM To guarantee a long life

maintenance, depending on the aggressiveness of the environment.

2 2 CLEANING BLOWING GAS OIL In order to free any foreign particle,

24 Maintenance MAINTENANCE: FORCE MECHANISM To guarantee a long life for our minipincers, it is essential to make a preventive maintenance, depending on the aggressiveness of the environment. 1 1 DISMANTLING Dismantle both lateral covers. 2 2 CLEANING BLOWING GAS OIL In order to free any foreign particle, project compressed air in all directions on the hole and in different positions of the arm. 3 3 LUBRICATION Spray on the hole with a lubricant for bearings in different positions of the arm. 4 4 ASSEMBLY Put both covers on the clamp. 24

Maintenance MAINTENANCE: PNEUMATIC CYLINDER Please, read carefully the following advices for a correct maintenance of the pneumatic cylinder. 1.

25 Maintenance MAINTENANCE: PNEUMATIC CYLINDER Please, read carefully the following advices for a correct maintenance of the pneumatic cylinder. 1. AIR TREATMENT It is recommended to use compressed air (filtered) prepared for preventing any dust particles, oil or water from damaging the internal components of the minipincers. After the compression, air is pre-filtered, dehydrated by cold drying (pressure dew point + 2ºC) and cleaned through very fine filters. Bigger particles than 40 μm should be removed with some specific filters. 2. GREASE FOR PNEUMATIC ELEMENTS Our standard miniclamps use Klübersynth AR grease. This adhesive lubricating grease can be used with a wide piston speed range. Other advantages are the low breakaway torque, even after longer periods of standstill and the low tendency to the stick-lip during slow piston speeds. In case of high-temperature special applications (EE-xx9), Viton O-rings are lubricated with Barrierta L55/1 hightemperature long-term grease. Both types of greases are from Klüber Lubrications ( For further information, please contact the manufacturer directly. Misati supplies each spare Pneumatic Kit (KJ-...) with the enough quantity of grease to change the elements correctly. 3. AIR EQUIPMENT LUBRICATION Compressed air can be lubricated or unlubricated. In case of using lubricated air, oil must be mineral or synthetic to prevent any incompatibilites with the grease used with the pneumatic seals. If you begin using unlubricated air and then you change to use lubricated air, seals can dry up and crack, and so the miniclamp will lose air tightness. Use ethanol to clean the pneumatic sealing elements. 25

Maintenance MECHANICAL KIT FOR GL, GC MINICLAMPS Dismantling the Mechanical Kit Assembling the Mechanical Kit The Mechanical Kit of GC miniclamps must be changed in MISATI workshops.

26 Maintenance MECHANICAL KIT FOR GL, GC MINICLAMPS Dismantling the Mechanical Kit Assembling the Mechanical Kit The Mechanical Kit of GC miniclamps must be changed in MISATI workshops. 1 Dismantle both lateral covers Allen keys 2,5 y 3 6 Assemble the internal bushing of the arm with the help of the bolt. 2 Take bearings & bolt out 7 Lay the clamp down horizontally and place the shaft and bearings in it 3 Push the shaft down to the end 8 Put the Bakelite cover & sensor, or lateral cover, on the clamp Allen keys 4 Take the internal bushing out of the arm 9 Turn the clamp and place the bearing in 5 Push the shaft up to the halfway of the oblong hole of the body 10 Turn the clamp and place the bearing in Allen keys 2,5 26

Maintenance MECHANICAL KIT FOR GL, GC MINICLAMPS 1 Dismantle both

Assembling the Mechanical Kit The Mechanical Kit of GC miniclamps

6 Take the head and the cylinder bush out 2 Take bearings & bolt

down to the end 8 With the arm straight, push down with an Allen

out of the arm Allen key 9 Replace the used guide with the new one

27 Maintenance MECHANICAL KIT FOR GL, GC MINICLAMPS 1 Dismantle both lateral covers Allen keys 2,5 y 3 Dismantling the Mechanical Kit Assembling the Mechanical Kit The Mechanical Kit of GC miniclamps must be changed in MISATI workshops. 6 Take the head and the cylinder bush out 2 Take bearings & bolt out 7 Unscrew the piston & take it out Allen key 3 Push the shaft down to the end 8 With the arm straight, push down with an Allen key to take the shaft & guide out Take the internal bushing out of the arm Allen key 9 Replace the used guide with the new one 5 Unscrew the head with the help of two Allen screws 10 Replace the two seals of the head Allen key & spanne 27

Maintenance PNEUMATIC KIT FOR GL i GC2 MINICLAMPS 11 Place the piston

bushing of the arm with the help of the bolt 12 Place the piston &

horizontally and place the shaft and bearings in it 13 Approach the

cover & sensor, or lateral cover, on the clamp Allen key 3 14 Screw

place the bearing in Spanner 15 Push the shaft up to the halfway of

28 Maintenance PNEUMATIC KIT FOR GL i GC2 MINICLAMPS 11 Place the piston & the cylinder bush according to the drawing 16 Assemble the internal bushing of the arm with the help of the bolt 12 Place the piston & the cylinder bush according to the drawing 17 Lay the clamp down horizontally and place the shaft and bearings in it 13 Approach the shaft to the arm and tighten the screw Allen key 18 Put the Bakelite cover & sensor, or lateral cover, on the clamp Allen key 3 14 Screw the head in with the help of two Allen screws 19 Turn the clamp and place the bearing in Spanner 15 Push the shaft up to the halfway of the oblong hole of the body 20 Put the lateral cover on the clamp Allen key 2,5 28

Maintenance CHANGE OF THE ARM FOR GL i GC MINICLAMPS 1 Dismantle both

Allen keys 2,5 & 3 2 Take bearings & bolt out Centre punch & hammer 9 Put

down to the end 10 Assemble the internal bushing of the arm with the help

Centre punch & hammer 6 Take the arm out 11 Lay the clamp down horizontally

or lateral cover, on the clamp Allen key 3 13 Turn the clamp and place the

29 Maintenance CHANGE OF THE ARM FOR GL i GC MINICLAMPS 1 Dismantle both lateral covers Dismantling the arm 8 Assemble the bolt Assembling the arm Allen keys 2,5 & 3 2 Take bearings & bolt out Centre punch & hammer 9 Put the shaft up to the halfway of the oblong hole of the body 3 Push the shaft down to the end 10 Assemble the internal bushing of the arm with the help of the bolt 4 Take the internal bushing out of the arm 5 Take the bolt out Centre punch & hammer 6 Take the arm out 11 Lay the clamp down horizontally and place the shaft and bearings in it 12 Put the Bakelite cover & sensor, or lateral cover, on the clamp Allen key 3 13 Turn the clamp and place the bearing in 7 Assemble the arm 14 Put the lateral cover on the clamp Allen key 2,5 29

30 MISATI, S.L., Av. de la Riera 15, E Sant Just Desvern Barcelona - Spain Tel. (+34) Fax. (+34) misati@misati.com -

OPERATING INSTRUCTIONS FOR MINICLAMPS FOR FASTENING CLAMPS

OPERATING INSTRUCTIONS FOR MINICLAMPS FOR FASTENING CLAMPS 031218 Operating Instructions for Fastening Clamps INDEX Which miniclamp should I use? OPERATION PRINCIPLE 04 TYPES OF CLAMPS 05 BALL-ENDED SCREW