Operating Instructions. Handling Components Grippers GPU / GPUI BA ENGLISH

Transcription

1 Operating Instructions Handling Components Grippers GPU / GPUI BA ENGLISH Edition: 10/2005

2 Operating Instructions GPU / GPUI Change index Previous editions: Edition Note Reference number 10/2005 First edition BA

3 Operating Instructions GPU / GPUI Contents 1 Important information Manufacturer s declaration Validity of the User Manual Technical data GPU-10 / GPUI Dimension diagram GPU Dimension diagram GPUI Technical data for gripper GPU-14 / GPUI Dimension diagram GPU Dimension diagram GPUI Technical data for gripper GPU-20 / GPUI Dimension diagram GPU Dimension diagram GPUI Technical data for gripper GPU-25 / GPUI Dimension diagram GPU Dimension diagram GPUI Definition of loads Commissioning Installation Mounting position Operating modes Air supply Conversion procedure to closed when depressurised Securing the gripping force Connecting and adjusting the inductive proximity switches Mounting the gripper fingers on GPU grippers Maintenance Exploded views / parts lists

4 Operating Instructions GPU / GPUI 3.1 Exploded view GPU Exploded view GPUI Parts list / wearing parts GPU / GPUI Environmental compatibility List of figures

5 Operating Instructions GPU / GPUI 1 Important information EC declaration of conformity (as per MRL appendix II A) 1.1 Manufacturer s declaration Regulations and standards complied with: Machinery directives 89/392/EC, 91/368/EEC Manufacturer Montech AG Phone +41 (0)32 / Gewerbestrasse 12 Fax +41 (0)32 / CH-4552 Derendingen info@montech.com Product description and intended use Grippers of types GPU and GPUI can be used in all applications where workpieces have to be regularly gripped externally or internally for the purpose of transport (handling). The load limits set out in the section Technical data must be complied with under all circumstances. Hazards The use of grippers of types GPU and GPUI in installations is only permissible when they are secured by MOVABLE, SEPA- RATING PROTECTIVE DEVICES as per EN section Failure to comply with this instruction can result in injury, e.g. squeezing of the fingers. 5

6 Operating Instructions GPU / GPUI Additional information The aim of the present User Manual is to enable users to employ grippers GPU / GPUI correctly and safely. Should further information be required in relation to your particular application, please contact the manufacturer. When reordering User Manuals, it is essential to quote the reference number, the product name and serial number. This document can be obtained from our homepage Fig : Nameplate Reference number Product name Serial number Montech AG Management U. D. Wagner C. Wullschleger 6

7 Operating Instructions GPU / GPUI 1.2 Validity of the User Manual Our products are continually updated to reflect the latest state of the art and practical experience. In line with product developments, our User Manuals are continually updated. Every User Manual has an order number (e.g. BA ) and an edition number (e.g. 10/2005). The order number and the addition number are shown on the title page. 7

8 Operating Instructions GPU / GPUI 1.3 Technical data GPU-10 / GPUI-10 GPU-10 / GPUI-10 Gripping distance = total stroke of the jaws [mm] 5 Piston diameter [mm] 10 Opening time at 5bar 1) [s] Closing time at 5bar 1) [s] 0.02 Unit weight GPU/GPUI [kg] 0.15 Moment of inertia Jz [kgcm2] 0.23 Max. cycles per minute max. 80 double strokes / minute Operating pressure [bar] 4-6 Operating medium air filtered to 5µm, oiled or unoiled, dew point <6 C Repetition accuracy at 5bar 2) [mm] ±0.02 Check on end positions by inductive proximity 3) open/closed switches Plug-in pneumatic connection hose- 4 mm Ambient: temperature [ C] rel. humidity < 95% (non condensing) purity of the air normal workshop atmosphere Warranty 2 years, commencing at the date of delivery Maintenance after 10 million cycles Mounting position as required Materials aluminium, steel, bronze 8

9 Operating Instructions GPU / GPUI 1) Measured at maximum stroke (open when depressurised) Note: for closed when depressurised -> transpose the times 2) Difference between gripped end positions of 100 successive strokes under unchanged conditions 3) Special accessories see section 1.14 Gripping force diagram GPU-10 / GPUI-10 Fig : Gripping force diagram GPU-10 / GPUI-10 F S = Gripping force for each gripping finger Gripping force diagram: corresponds to gripping force closed against spring (open when depressurised). 9

10 Operating Instructions GPU / GPUI 1.4 Dimension diagram GPU-10 Fig : Dimension diagram GPU-10 Hub : Stroke Gewinde : Thread Bohrungen : Holes 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPU

11 Operating Instructions GPU / GPUI 1.5 Dimension diagram GPUI-10 Fig : Dimension diagram GPUI-10 Hub = Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI

12 Operating Instructions GPU / GPUI 1.6 Technical data for gripper GPU-14 / GPUI-14 GPU-14 / GPUI-14 Gripping distance = total stroke of the jaws [mm] 8 Piston diameter [mm] 14 Opening time at 5bar 1) [s] 0.02 Closing time at 5bar 1) [s] Unit weight GPU/GPUI [kg] 0.25 Moment of inertia Jz [kgcm2] 0.63 Max. cycles per minute max. 80 double strokes / minute Operating pressure [bar] 3-6 Operating medium air filtered to 5µm, oiled or unoiled, dew point <6 C Repetition accuracy at 5bar 2) [mm] ±0.03 Check on end positions by inductive proximity 3) open/closed switches Plug-in pneumatic connection hose- 4 mm Ambient: temperature [ C] rel. humidity < 95% (non condensing) purity of the air normal workshop atmosphere Warranty 2 years, commencing at the date of delivery Maintenance after 10 million cycles Mounting position as required Materials aluminium, steel, bronze 12

13 Operating Instructions GPU / GPUI 1) Measured at maximum stroke (open when depressurised) Note: for closed when depressurised -> transpose the times 2) Difference between gripped end positions of 100 successive strokes under unchanged conditions 3) Special accessories see section 1.14 Gripping force diagram GPU-14 / GPUI-14 Fig : Gripping force diagram GPU-14 / GPUI-14 F S = Grippino force for each gripping finger Gripping force diagram: corresponds to gripping force closed against spring (open when depressurised). 13

14 Operating Instructions GPU / GPUI 1.7 Dimension diagram GPU-14 Fig : Dimension diagram GPU-14 Hub : Stroke Gewinde : Thread Bohrungen : Holes 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPU

15 Operating Instructions GPU / GPUI 1.8 Dimension diagram GPUI-14 Fig : Dimension diagram GPUI-14 Hub = Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI

16 Operating Instructions GPU / GPUI 1.9 Technical data for gripper GPU-20 / GPUI-20 GPU-20 / GPUI-20 Gripping distance = total stroke of the jaws [mm] 12 Piston diameter [mm] 20 Opening time at 5bar 1) [s] Closing time at 5bar 1) [s] 0.03 Unit weight GPU/GPUI [kg] 0.5 Moment of inertia Jz [kgcm2] 2.03 Max. cycles per minute max. 80 double strokes / minute Operating pressure [bar] 2-6 Operating medium air filtered to 5µm, oiled or unoiled, dew point <6 C Repetition accuracy at 5bar 2) [mm] ±0.04 Check on end positions by inductive proximity 3) open/closed switches Plug-in pneumatic connection hose- 4 mm Ambient: temperature [ C] rel. humidity < 95% (non condensing) purity of the air normal workshop atmosphere Warranty 2 years, commencing at the date of delivery Maintenance after 10 million cycles Mounting position as required Materials aluminium, steel, bronze 16

17 Operating Instructions GPU / GPUI 1) Measured at maximum stroke (open when depressurised) Note: for closed when depressurised -> transpose the times 2) Difference between gripped end positions of 100 successive strokes under unchanged conditions 3) Special accessories see section 1.14 Gripping force diagram GPU-20 / GPUI-20 Fig : Gripping force diagram GPU-20 / GPUI-20 F S = Grippino force for each gripping finger Gripping force diagram: corresponds to gripping force closed against spring (open when depressurised). 17

18 Operating Instructions GPU / GPUI 1.10 Dimension diagram GPU-20 Fig : Dimension diagram GPU-20 Hub : Stroke Gewinde : Thread Bohrungen : Holes 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPU

19 Operating Instructions GPU / GPUI 1.11 Dimension diagram GPUI-20 Fig : Dimension diagram GPUI-20 Hub : Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI

20 Operating Instructions GPU / GPUI 1.12 Technical data for gripper GPU-25 / GPUI-25 GPU-25 / GPUI-25 Gripping distance = total stroke of the jaws [mm] 20 Piston diameter [mm] 25 Opening time at 5bar 1) [s] 0.05 Closing time at 5bar 1) [s] Unit weight GPU/GPUI [kg] 0.9 Moment of inertia Jz [kgcm2] 5.56 Max. cycles per minute max. 80 double strokes / minute Operating pressure [bar] 2-6 Operating medium air filtered to 5µm, oiled or unoiled, dew point <6 C Repetition accuracy at 5bar 2) [mm] ±0.05 Check on end positions open/closed 3) by inductive proximity switches Plug-in pneumatic connection hose- 4 mm Ambient: temperature [ C] rel. humidity < 95% (non condensing) purity of the air normal workshop atmosphere Warranty 2 years, commencing at the date of delivery Maintenance after 10 million cycles Mounting position as required Materials aluminium, steel, bronze 20

21 Operating Instructions GPU / GPUI 1) Measured at maximum stroke (open when depressurised) Note: for closed when depressurised -> transpose the times 2) Difference between gripped end positions of 100 successive strokes under unchanged conditions 3) Special accessories see section 1.14 Gripping force diagram GPU-25 / GPUI-25 Fig : Gripping force diagram GPU-25 / GPUI-25 F S = Grippino force for each gripping finger Gripping force diagram: corresponds to gripping force closed against spring (open when depressurised). 21

22 Operating Instructions GPU / GPUI 1.13 Dimension diagram GPU-25 Fig : Dimension diagram GPU-25 Hub : Stroke Gewinde : Thread Bohrungen : Holes 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPU

23 Operating Instructions GPU / GPUI 1.14 Dimension diagram GPUI-25 Fig : Dimension diagram GPUI-25 Hub : Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI

24 Operating Instructions GPU / GPUI Special accessories: Inductive proximity switches PNP Ø 6.5 mm with LED, protected against short circuits and reverse polarity, switching distance 2 mm, cable length 2 m ref. no / with plug ref. no Screw-in connection M5, straight, plug-in type Ø /4mm reference no Definition of loads Fig : Definition of loads 24

25 Operating Instructions GPU / GPUI GPU / GPUI F s permiss. [N] see gripping force diagrams F oy permiss. [N] F oz permiss. [N] Lx permiss. [mm] L y permiss. [mm] Lz permiss. [mm] ( Lx + L y ) permiss. [mm] (L y + L z ) permiss. [mm] (L z + L x ) permiss. [mm] M ox permiss. = F o y L z + F zo L y [Nmm] M oy permiss. = F s L z + F oz [Nmm] L x M oz permiss. = F s L y + F o y L x [Nmm] F s : Gripping force for each gripping finger [N] F oy, Foz : Static forces [N] L x, L y, Lz : Spacing of force action [mm] M ox, M oy, M oz : Static loads [Nmm] NB: When M ox, M oy, and M oz act simultaneously, each may attain its permissible maximum. 25

26 Operating Instructions GPU / GPUI 2 Commissioning 2.1 Installation Laterally displaceable: gripper types GPU-10 to GPU-25 Fig : GPU laterally displaceable SLL-12 for GPU-10 and GPU-14 SLL-20 for GPU-20 and GPU-25 Screwed and pinned: gripper types GPU-10 to GPU-25 Fig : GPU screwed and pinned For information on dimensions see dimension diagrams. 26

27 Operating Instructions GPU / GPUI Mounting on rotary unit DAPI Gripper types: GPUI-10 to GPUI-25 Fig : GPUI mounting on rotary unit DAPI with WA DAPI- SRR WA Rotary axis SRR Rotary axis GPUI The position of the gripper on the rotary axis may be freely selected. 27

28 Operating Instructions GPU / GPUI Fig : GPUI mounting on rotary unit DAPI DAPI- Air supply close gripper finger SRR Rotary axis GPUI Air supply to the gripper on the casing of the rotary drive. The position of the gripper on the rotary axis may be freely selected. 2.2 Mounting position The GPU grippers may be mounted in any position, as required. 28

29 Operating Instructions GPU / GPUI 2.3 Operating modes State as delivered: the spring is installed, the gripper is open when depressurised, i.e. it is suitable for gripping from the outside inwards. Fig : External gripping Fig : Internal gripping For gripping from the inside outwards, the GPU gripper needs to be converted to closed when depressurised. See section 2.5 Conversion procedure to closed when depressurised. 29

30 Operating Instructions GPU / GPUI 2.4 Air supply Fig : Air supply GPU Gripper closed Gripper open Fig : Internal air supply GPUI Gripper closed Gripper open 30

31 Operating Instructions GPU / GPUI 2.5 Conversion procedure to closed when depressurised The spring is not used to secure the gripping force. The state shown is open when depressurised. The GPU gripper must never be used without the stop. Fig : Conversion procedure to closed when depressurised Depressurise the gripper. Screw out the screws (140). Insert spring (30) in the base of the appropriate piston. Fix the cover (110) with screws (140) on the housing (10). Make sure the two O-rings (170) are located in the recesses of the cylinder holes. 31

32 Operating Instructions GPU / GPUI 2.6 Securing the gripping force To secure the gripping force, e.g. in the event of an emergency stop, we recommend the use of the stop valve ref. no Compared with the use of springs to secure the gripping force, this has the advantage of maintaining the gripping force at 100%. Fig : Wiring diagram for securing the gripping force Load If a single-action load is fitted, the connection B1 must be closed. Two-way valve 32

33 Operating Instructions GPU / GPUI 2.7 Connecting and adjusting the inductive proximity switches The proximity switches used must have a switching distance (Sn) of 2 mm, be designed for flush mounting, and have a housing -Ø of 6.5 mm. Fig : End position scanning using inductive proximity switches Adjusting procedure Gripper open (A): Open the gripper (depressurised). Unscrew screw 210 (A). Insert the proximity switch in opening A as far as the stop. If the switch is electrically connected, the LED should now light up. Secure the proximity switch by tightening the screw 210 (A). 33

34 Operating Instructions GPU / GPUI Adjusting procedure Gripper closed (B): See Fig : Close the gripper with compressed air. Unscrew screw 210 (B). Insert the proximity switch in opening B as far as the stop. If the switch is electrically connected, the LED should now light up. Secure the proximity switch by tightening screw 210 (B). Gripper closed To ensure an end position check by the inductive proximity switches, the clamping jaws need to be designed so that they make contact with the workpiece prior to ascending to the end stop of the gripper. Maximum residual lift from workpiece contact to end stop for all installation sizes = 0.5mm. Fig : Connection diagram for inductive proximity switch Direct current (DC) braun : brown schwarz : black blau : blue Direct current (DC) 34

35 Operating Instructions GPU / GPUI 2.8 Mounting the gripper fingers on GPU grippers Fig : Mounting the gripper fingers on the outside of the jaws Fig : Mounting the gripper fingers on the inside of the jaws For information on connection dimensions of gripper fingers see dimension diagrams. 35

36 Operating Instructions GPU / GPUI 2.9 Maintenance The gripper is generally maintenance-free up to 10 million cycles. We recommend the following preventative maintenance to ensure optimum performance of the unit: Periodic cleaning of the unit, particularly the mechanical guide. Inspection of the seals, possible replacement Lubricate with Paraliq P460 (Montech article no ), particularly the mechanical guide For further information about our services, support and downloads, please visit our homepage at or contact your local representative 36

37 Operating Instructions GPU / GPUI 3 Exploded views / parts lists 3.1 Exploded view GPU Fig : Exploded view GPU 37

38 Operating Instructions GPU / GPUI 3.2 Exploded view GPUI Fig : Exploded view GPUI 38

39 Operating Instructions GPU / GPUI 3.3 Parts list / wearing parts GPU / GPUI No. Part Ref. no. Material GPU / GPUI Casing Aluminium 20 Piston Bronze 30* Compression spring Steel 40* O-ring 7x NBR 40* O-ring 11x NBR 40* O-ring 15x NBR 40* O-ring 20x NBR 50* Gripping jaw, right Steel 60* Gripping jaw, left Steel 70* Guide roller Steel 80* Cylindrical pin Ø3h6x Steel 80* Cylindrical pin Ø3h6x Steel 80* Cylindrical pin Ø4h6x Steel 80* Cylindrical pin Ø4h6x Steel 90* Roller for piston Steel 100* Cylindrical pin Ø2h6x Steel 100* Cylindrical pin Ø2.5h6x Steel 100* Cylindrical pin Ø3h6x Steel 110 Cover GPU Aluminium 110 Cover GPUI Aluminium 130 Cylindrical pin Ø2.5h6x Steel 130 Cylindrical pin Ø3h6x Steel 140 Chhd screw M3x Steel 140 Chhd screw M3x Steel 140 Chhd screw M4x Steel 160 Ribbed washer M Steel 160 Ribbed washer M Steel 170* O-ring 11x NBR 170* O-ring 15x NBR 170* O-ring 21x NBR 170* O-ring 26x NBR 180 Holder for initiator Aluminium 190 Ribbed washer M Steel * Marked articles are wearing parts; they are available from stock. 39

40 Operating Instructions GPU / GPUI No. Part Ref. no. Material GPU / GPUI Chhd screw M3x Steel 210* Clamping screw Steel 220 Spacer Steel 230 Chhd screw M3x Steel 230 Chhd screw M3x Steel 230 Chhd screw M3x Steel 230 Chhd screw M3x Steel 240 Ribbed washer M Steel 250 Screw-in connect. M Steel 250 Blind plug M5 GPUI Steel 260* Clamping block Steel 290 Pictograph GPU Polyester 900 Nameplate CE Polyester * Marked articles are wearing parts; they are available from stock. 40

41 Operating Instructions GPU / GPUI 4 Environmental compatibility Materials used Aluminium Steel Bronze Acrylonitrile-butadiene rubber (NBR) Paraffinic mineral oil, synthetic hydrocarbon oil Surface treatment Anodising of aluminium Shaping processes Machining of aluminium, steel, bronze Moulding of NBR gaskets Emissions in service None When units are used with oily air, we recommend that the exhaust air be returned to atmosphere through an oil separator or filter. Disposal Grippers that are no longer serviceable should not be disposed of as complete units, but dismantled into their parts which can be recycled according to the types of material of which they are made. The type of material used for every part is shown in the spare parts list. Material that cannot be recycled should be disposed of appropriately. 41

42 Operating Instructions GPU / GPUI 5 List of figures Fig : Nameplate... 6 Fig : Gripping force diagram GPU-10 / GPUI Fig : Dimension diagram GPU Fig : Dimension diagram GPUI Fig : Gripping force diagram GPU-14 / GPUI Fig : Dimension diagram GPU Fig : Dimension diagram GPUI Fig : Gripping force diagram GPU-20 / GPUI Fig : Dimension diagram GPU Fig : Dimension diagram GPUI Fig : Gripping force diagram GPU-25 / GPUI Fig : Dimension diagram GPU Fig : Dimension diagram GPUI Fig : Definition of loads Fig : GPU laterally displaceable Fig : GPU screwed and pinned Fig : GPUI mounting on rotary unit DAPI with WA Fig : GPUI mounting on rotary unit DAPI Fig : External gripping Fig : Internal gripping Fig : Air supply GPU Fig : Internal air supply GPUI

43 Operating Instructions GPU / GPUI Fig : Conversion procedure to closed when depressurised Fig : Wiring diagram for securing the gripping force Fig : End position scanning using inductive proximity switches Fig : Connection diagram for inductive proximity switch34 Fig : Mounting the gripper fingers on the outside of the jaws Fig : Mounting the gripper fingers on the inside of the jaws Fig : Exploded view GPU Fig : Exploded view GPUI

44 MONTECH AG Gewerbestrasse 12, CH-4552 Derendingen Fon , Fax