Product Information. Radial gripper PRG 64

Transcription

1 Product Informaton PRG 64

2 PRG More flexble More powerful. Slm. PRG unversal grpper 180 radal grpper wth powerful 1-shft slotted lnk gear and oval pston. Feld of applcaton For areas of applcaton whch, n addton to a large grppng force, requre the shortest possble moton sequences through the radal desgn of the jaw stroke. Advantages Your benefts Knematcs the 1-shft slotted lnk gear assures a consstant closng moment from -5 to +7. Optmzed cycle tme due to nnovatve dampng drectly ntegrated drve chan Maxmum compact performance for hgher closng moments, longer and stable grpper fngers Many optons ensure a hgher degree of flexblty adjusted to the ndvdual applcaton, the PRG s also avalable wth a mechanc grppng force mantenance devce, as a hgh-temperature verson, and wth three openng angle versons 30 / 60 / 90. Ar supply va hose-free drect connecton or screw connectons for flexble pressure supply n all automated systems Szes Quantty: 8 Weght kg Grppng moment Nm Angle per jaw Workpece weght kg 2

3 PRG Functonal descrpton The patented "1-pn lnk gude" converts the movement nto a powerful closng torque. The closng moment s addtonally renforced by the curved shape of the gudance. In addton to a rapd stroke behavour the slotted lnk also assures a nearly constant closng torque over a large closng angle range. PRG 1 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 2 Base Jaw for the connecton of workpece-specfc grpper fngers 3 Knematcs Slotted lnk gear for very hgh grppng forces when the workpece s contacted 4 Dampng decouples the drve, for shorter cycle tmes 5 Montorng ntegrated end poston montorng wth magnetc swtches CAD data, operatng manuals and other current product documents can be found onlne. 3

4 PRG General notes about the seres Operatng prncple: Slotted lnk gear 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 moment: grppng moment s the arthmetc total of grppng moments for each grpper jaw. 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. 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 Grpper-swvel combnaton for handlng of small shafts. The 180 openng angle of the grpper replaces a stroke unt whch otherwse would be necessary. 1 PRG 2-fnger radal grpper 2 Rotary Actuator SRU-plus 4

5 PRG SCHUNK offers more... The followng components make the product PRG even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Centerng sleeves Fttngs Magnetc swtches Inductve Proxmty Swtches Sensor dstrbutor Grpper pads Sensor cables Plastc nserts Pressure mantenance valve 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 Hgh-temperature verson V/HT: for use n hot envronments 180 radal grppers are advantageous snce further stroke motons are no more necessary. Snce every jaw swvels away by 90, the grpper s outsde of the workng area, and a stroke moton back of the whole grpper s no more necessary. Addtonal versons: Varous optons can be combned wth each other. Numerous addtonal optons are also avalable - just tell us what your task s! 5

6 Grppng force, O.D. grppng Fnger load Grppng force Max. permssble nerta J* Pont P - Fnger length M x max Nm M z max. 3 Nm F z max. 660 N Inerta The ndcated torques and forces are statc values, apply for each base jaw, and may occur smultaneously. Closng/openng tme Techncal data Descrpton PRG PRG AS PRG PRG AS PRG PRG AS ID Openng angle per jaw [ ] Closed angle per jaw up to [ ] Closng moment [Nm] Closng moment generated by sprng [Nm] Weght [kg] Recommended workpece weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 2/8 4/6.5 2/8 4/6.5 2/8 4/6.5 Nomnal operatng pressure [bar] Closng/openng tme [s] 0.22/ / / / / /0.47 Closng tme wth sprng only [s] Max. permssble fnger length [mm] Max. permssble mass moment of nerta per chuck jaw* [kgcm²] Protecton class IP Mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Optons and ther characterstcs Hgh-temperature verson Mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 *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 curve apples for 90 versons. For other versons the curve must be parallely off-set accordng to the openng and closng tmes. The ndcated closng moment wll be reached at an openng angle of 0. A detaled closng moment course dependng on the openng angle can be taken out of the followng dagram "Closng moment to openng angle". 6

7 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 HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. Closng torque curve** Closng moment **The dagramm s vald for all openng angle varants. Openng angle 7

8 Maxmum permtted fnger projecton Permtted range Inadmssble range L max s equvalent to the maxmum permtted fnger length, see the techncal data table Hose-free drect connecton M5 Fnger desgn 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 drawng shows a suggerstonof how to desgn the grpper fngers. A B C D [mm] [mm] [mm] [mm]

9 SDV-P pressure mantenance valve Attachment kt for proxmty swtch IN 40 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 04-E The attachment kt conssts of brackets, control cams, and approprate fastenng materals. The proxmty swtches must be ordered separately. Descrpton ID Attachment kt for proxmty swtch AS-PRG 64-IN Ths attachment kt needs to be ordered optonally as an accessory. IN 40 nductve proxmty swtches Attachment kt for proxmty swtch IN 80 End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS-PRG 64-IN Inductve Proxmty Swtches IN 40-S-M IN 40-S-M INK 40-S The attachment kt conssts of brackets, control cams, and approprate fastenng materals. The proxmty swtches must be ordered separately. Descrpton ID Attachment kt for proxmty swtch AS-PRG 64-IN Ths attachment kt needs to be ordered optonally as an accessory. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 9

10 IN 80 nductve proxmty swtches Electronc magnetc swtches MMS AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA End poston montorng can be mounted wth an attachment kt. Descrpton ID Often combned Attachment kt for proxmty swtch AS-PRG 64-IN Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 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 Reed Swtches RMS 22-S-M 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 RSS Wreless sensor system RSS-T RSS-T2-US/CA 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 swtch MMS 22-PI1 Programmable magnetc swtch MMS 22-PI2 AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA 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 Plug teachng tool ST-MMS 22-PI1-PNP Programmable magnetc swtch MMS 22-PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtch MMS 22-PI1 wth lateral connecton MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtch MMS 22-PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD AQ Cable outlet IT MMS PI2-... sensor 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 Plug teachng tool ST-MMS 22-PI2-PNP Programmable magnetc swtch MMS 22-PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtch MMS 22-PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD 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. 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. 11

12 Programmable magnetc swtches MMS-P GN Lmt stop for sensor 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 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

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