Flexible. Light. Productive. LEG Long-stroke Gripper

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1 LEG Flexible. Light. Productive. LEG Long-stroke Gripper Light long-stroke gripper for flexible and highly dynamic handling of various components Field of Application For use in a clean working environment, highly flexible gripping of a wide range of geometries and types of parts. The servo-electric drives allow exact determination of the gripping position and gripping force. Advantages Your benefit Synchronized but also asynchronous moving of the fingers for various gripping applications Modular drive concept compatible with standard robot control units with flexibility to accommodate the widest range of motors Position and torque-controlled movement of the gripper a great part variety can be covered by different sizes and dimensional stability Extremely long stroke with up to 2 x mm Passive finger change system (on request) can be used manually or fully automated High moment payloads due to the guiding suitable for using long gripper fingers Available for standard robot adaptations according to ISO 9409 Sizes Quantity: 3 Weight kg Gripping force N Stroke per jaw mm Workpiece weight kg 1762

2 LEG Functional Description The two ball-screw spindle drives, which move the base jaw, are driven by one or two servo motors via a toothed belt. With two drives every jaw can be moved individually from each other. During the actuation with a servo motor, a coupling synchronizes the right-to-left and the left-toright spindle with each other. 180 LEG 1Recirculating Ling tilti ballbearing guide Precise gripping due to high-amperage smoothly running guidance 2Base jaw for the connection of workpiece-specific gripper fingers 3Housing Weight-optimized due to FEM and topology examination 4Kinematics High moment payloads due to the ball screw 5Motor installation space for various motors 6Linear guide Heavy-duty for high moment loads and long top jaws CAD data, operating manuals and other current product documents are available at www. schunk. com 1763

3 LEG General Notes about the Series Operating principle: Ball screw Housingmaterial: Aluminum alloy, coated Base jaw material: Aluminum alloy, anodized Actuation: electrically via an adaptable servo motor Warranty: 24 months (details, general terms and conditions and operating manuals can be downloaded at www. schunk. com) Scope of delivery: Enclosed pack with centering sleeve and centering pins, assembly and operating manual with declaration of incorporation. Depending on the variant, operation of the gripper requires a motor add-on kit, a servo motor and a suitable controller. They are not included in the scope of delivery and must be ordered separately. Gripping force: is the arithmetic total of the gripping force applied to each gripper jaw at distance P (see illustration). Finger length: is measured from the upper edge of the gripper housing in the direction of the main axis. The breach of the max. permitted finger length can bring higher abrasion. Repeat accuracy: is defined as the spread of the limit position after 100 consecutive strokes. Workpiece weight: is calculated for a force-fit connection with a coefficient of friction of 0.1 and a safety factor of 2 against slippage of the workpiece on acceleration due to gravity g. Considerably heavier workpiece weights are permitted with form-fit gripping. Closing and opening times: Minimum closing and opening times are only the movement times of the base jaws at max. speed, max. acceleration without electrical restrictions (maximum current) and observance of the maximum permissible mass per finger. Nominal currents: may be permanently applied. The information in the respective product documentation must be observed for all current levels beyond the rated current up to the maximum current. Application example Gripping system solution comprising three electric grippers for the handling of a wide variety of workpieces 1 LEG 2-Finger Long-stroke Gripper, asynchronous version 2 LEG 2-Finger Long-stroke Gripper, synchronous version 3Adapter flange 1764

4 LEG SCHUNK offers more... The following components make the product LEG even more productive the suitable addition for the highest functionality, flexibility, reliability, and controlled production. Centering Sleeves Servomotor Finger Change System (on request) Drag Chain 180 Flange Gripper Pads i Further information regarding the products can be found on the following product pages or at www. schunk. com. Please contact us for further information: SCHUNK technical hotline Options and special Information Flexible in choice of motor and controller: The electrical control is carried out via an adaptable servo drive using common standard controller like Bosch or Siemens Easy integration: Due to the possibility to adapt a common servo motor, the simple integration into the control system is guaranteed, using the advantages of the certain customer controller. Identical control: Like a normal servo axis, the gripper can be controlled directly and interpolated with existing axes. 1765

5 LEG 400 Gripping force Finger load Gripping force Finger length M x max Nm M y max Nm M z max Nm F z max N i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Technical data Synchronous version for 1 motor LEG X3-B ID General operating data Stroke per jaw [mm] 101 min. / max. gripping force [N] 300/1050 Weight [kg] 5.4 Recommended workpiece weight [kg] 5.25 max. permitted finger length [mm] 600 max. permitted weight per finger [kg] 10 IP class 20 min. / max. ambient temperature [ C] 5/55 Repeat accuracy [mm] 0.05 max. speed [mm/s] 276 max. acceleration [mm/s²] 1500 Options and their characteristics Asynchronous version for 2 motors LEG X3-B ID min. / max. gripping force [N] 300/1500 Weight [kg] 5.4 Recommended workpiece weight [kg] 7.5 i Motors are not included in the purchase price in the base variant. Please ask us for details about the integration of other motor types. 1766

6 LEG 400 Main view 180 The drawing shows the gripper in the basic version with closed jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection GL Fit for centering sleeves HT Depth of the centering sleeve hole in the mating part IT Plug connector of the individual motor Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1767

7 LEG 400 Adapter flange according to DIN ISO Adapter flange according to DIN ISO Description ID ADF ADF Adapter flange according to DIN ISO Adapter flange according to DIN ISO ADF ADF

8 LEG 400 Adapter flange according to DIN ISO Adapter flange Description ID ADF IT Adapter flange Adapter flange for connection of additional SCHUNK components or customized attachments. ADF ADF ADF ADF ADF Motor add-on kit for version -B The B version of the LEG can be equipped with the corresponding motor using a motor add-on kit. The motor itself is not part of the mounting kit, and must be provided by the customer. Motor Motor add-on kits MAS-LEG-400-Fanuc Fanuc b

9 LEG 520 Gripping force Finger load Gripping force Finger length M x max Nm M y max Nm M z max Nm F z max N i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Technical data Synchronous version for 1 motor LEG X3-B ID General operating data Stroke per jaw [mm] 150 min. / max. gripping force [N] 300/1050 Weight [kg] 6.4 Recommended workpiece weight [kg] 5.25 max. permitted finger length [mm] 600 max. permitted weight per finger [kg] 10 IP class 20 min. / max. ambient temperature [ C] 5/55 Repeat accuracy [mm] 0.05 max. speed [mm/s] 276 max. acceleration [mm/s²] 1500 Options and their characteristics Asynchronous version for 2 motors LEG X3-B ID min. / max. gripping force [N] 300/1500 Weight [kg] 6.4 Recommended workpiece weight [kg] 7.5 i Motors are not included in the purchase price in the base variant. Please ask us for details about the integration of other motor types. 1770

10 LEG 520 Main view 180 The drawing shows the gripper in the basic version with closed jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection GL Fit for centering sleeves HT Depth of the centering sleeve hole in the mating part IT Plug connector of the individual motor Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1771

11 LEG 520 Adapter flange according to DIN ISO Adapter flange according to DIN ISO Description ID ADF ADF Adapter flange according to DIN ISO Adapter flange according to DIN ISO ADF ADF

12 LEG 520 Adapter flange according to DIN ISO Adapter flange Description ID ADF IT Adapter flange Adapter flange for connection of additional SCHUNK components or customized attachments. ADF ADF ADF ADF ADF Motor add-on kit for version -B The B version of the LEG can be equipped with the corresponding motor using a motor add-on kit. The motor itself is not part of the mounting kit, and must be provided by the customer. Motor Motor add-on kits MAS-LEG-520-Fanuc Fanuc b05 MAS-LEG-520-Kuka Kuka MG 08 MAS-LEG-520-Siemens Siemens 1FK

13 LEG 760 Gripping force Finger load Gripping force Finger length M x max Nm M y max Nm M z max Nm F z max N i The specified torques and forces are static values, apply for each base jaw, and may occur simultaneously. M y may occur in addition to the torque generated by the gripping force. Technical data Synchronous version for 1 motor LEG X3-B ID General operating data Stroke per jaw [mm] 281 min. / max. gripping force [N] 300/1050 Weight [kg] 7.9 Recommended workpiece weight [kg] 5.25 max. permitted finger length [mm] 600 max. permitted weight per finger [kg] 10 IP class 20 min. / max. ambient temperature [ C] 5/55 Repeat accuracy [mm] 0.05 max. speed [mm/s] 276 max. acceleration [mm/s²] 1500 Options and their characteristics Asynchronous version for 2 motors LEG X3-B ID min. / max. gripping force [N] 300/1500 Weight [kg] 7.9 Recommended workpiece weight [kg] 7.5 i Motors are not included in the purchase price in the base variant. Please ask us for details about the integration of other motor types. 1774

14 LEG 760 Main view 180 The drawing shows the basic version of the gripper with open jaws, without dimensional consideration of the options described below. 1 Gripper connection 2 Finger connection GL Fit for centering sleeves HT Depth of the centering sleeve hole in the mating part IT Plug connector of the individual motor Maximum permitted finger projection Permitted range Inadmissible range L max is equivalent to the maximum permitted finger length, see the chart of technical specifications. 1775

15 LEG 760 Adapter flange according to DIN ISO Adapter flange according to DIN ISO Description ID ADF ADF Adapter flange according to DIN ISO Adapter flange according to DIN ISO ADF ADF

16 LEG 760 Adapter flange according to DIN ISO Adapter flange Description ID ADF IT Adapter flange Adapter flange for connection of additional SCHUNK components or customized attachments. ADF ADF ADF ADF ADF Motor add-on kit for version -B The B version of the LEG can be equipped with the corresponding motor using a motor add-on kit. The motor itself is not part of the mounting kit, and must be provided by the customer. Motor Motor add-on kits MAS-LEG-760-Kuka Kuka MG 08 MAS-LEG-760-Fanuc Fanuc b05 MAS-LEG-760-Siemens Siemens 1FK

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