MGX. 2-jaw parallel self-centering pneumatic gripper series MGX. Parallel grippers. Pinze parallele MGX

Transcription

1 Pinze parallele MGX Parallel grippers MGX 2-jaw parallel self-centering pneumatic gripper series MGX Flat profile. Robust guide. High gripping force. Small weight and dimensions. High dimensional accuracy. Spring closed (-NC) or spring open (-NO) option. Food grade grease FDA-H1. MGX415 MGX63 MGX258 MGX3214 MGX25 MGX321 MGX52 NEW MGX25 MGX258 MGX321 MGX3214 MGX415 MGX52 MGX63 Medium Operating pressure range Operating temperature range Filtered, lubricated / non lubricated compressed air C. Gripping force at on each jaw 9 N 145 N 23 N 16 N 375 N 65 N 83 N Total gripping force at 18 N 29 N 46 N 32 N 75 N 13 N 166 N (±.3 mm) Total stroke 5 mm 8 mm 1 mm 14.6 mm 15 mm 2 mm 3 mm Maximum working frequency 3 Hz 3 Hz 3 Hz 3 Hz 2 Hz 2 Hz 2 Hz Cycle air consumption 5 cm 3 1 cm 3 22 cm 3 22 cm 3 48 cm 3 86 cm cm 3 Opening / Closing time without load 7 ms 1 ms 2 ms 2 ms 5 ms 7 ms 14 ms Repetition accuracy.2 mm.2 mm.2 mm.2 mm.2 mm.2 mm.2 mm Weight 95 g 15 g 27 g 27 g 545 g 9 g 1525 g 28 3/215

2 Dimensions (mm) D1 Through hole for gripper fastening MGX D8 D5 D6 D7 Air connection Direct air feeding Inductive sensor mounting hole D9 Magnetic sensor slot OPEN CLOSE With inductive sensors MGX63 3/215 MGX25 MGX258 MGX321 MGX3214 MGX415 MGX52 MGX63 A B C ± D1 Ø5 H7 Ø7 H7 Ø7 H7 Ø7 H7 Ø7 H7 Ø9 H7 Ø9 H7 D2 Ø3.2 Ø4.2 Ø4.2 Ø4.2 Ø5.2 Ø6.2 Ø6.2 D3 Ø5 H7 Ø7 H7 Ø7 H7 Ø7 H7 Ø9 H7 Ø12 H7 Ø9 H7 D4 M3 M4 M5 M5 M6 M8 M6 D5 M5 M5 M5 M5 M5 G1/8 G1/8 D6 M3 M3 M3 M3 M3 M3 M3 E ± F G H ± I J K L M N P P P P Q R ± S T U V Z PZ

3 Gripping force The graphs show the gripping force on each jaw, as a function of the operating pressure and the gripping tool length Z MGX3214 The force shown in these graphs refers to one jaw. The total force is double MGX MGX MGX MGX MGX MGX /215 3

4 96N MGX 6 48N 76N Gripping force The graphs show the gripping force on each jaw, as a function of the gripping tool length Z and the overhanging X at. Decrease the air pressure to 5bar, if the gripper is used in the red area. 1 MGX N 14N 114N 132N 16N MGX25 8 MGX N 63N 55N N 99N 87N 12 8N N 9N N 1 MGX MGX N N N 135N 155N N 239N 277N 2 186N N 23N N 15 MGX52 19 MGX63 46N N 435N 39N 35N N 57N 51N 3 56N N 3/215 65N N

5 Safety loads Check the table for maximum permitted loads. Excessive forces or torques can damage the gripper, cause functioning troubles and endanger the safety of the operator. F s, Mx s, My s, Mz s, are maximum permitted static loads. Static means still jaws. F d, Mx d, My d, Mz d, are maximum permitted dynamic loads. Dynamic means running jaws. m, is the maximum permitted weight of each gripping tool, when the gripper works without speed adjustment. If the weight is over the permitted value, it is necessary to decrease the speed of the jaw by using flow controllers (not supplied). MGX25 MGX258 MGX321 MGX3214 MGX415 MGX52 MGX63 F s 3 N 4 N 65 N 5 N 1 N 15 N 2 N Mx s 4 Nm 8 Nm 15 Nm 12 Nm 3 Nm 65 Nm 11 Nm My s 12 Nm 24 Nm 55 Nm 4 Nm 7 Nm 95 Nm 155 Nm Mz s 3 Nm 6 Nm 12 Nm 1 Nm 24 Nm 48 Nm 9 Nm F d 2 N 3 N 6 N 5 N 1 N 17 N 25 N Mx d 6 Ncm 13 Ncm 34 Ncm 25 Ncm 47 Ncm 8 Ncm 155 Ncm My d 6 Ncm 13 Ncm 34 Ncm 25 Ncm 47 Ncm 8 Ncm 155 Ncm Mz d 6 Ncm 13 Ncm 34 Ncm 25 Ncm 47 Ncm 8 Ncm 155 Ncm m 1 g 2 g 4 g 4 g 6 g 1 g 15 g Gripping The gripper is double-acting for either internal or external gripping applications. 32 3/215

6 Gripper fastening The gripper can be fastened to a static or moving part. When on a moving part, you must pay attention to the forces created by inertia on the gripper and its load. It can be fastened from the top or from the bottom. Use 4 screws (SC) and 2 centering sleeves (BC). 4 centering rings for the gripping tools and 2 centering sleeves for the housing are supplied in the packaging. MGX25 MGX258 MGX321 MGX3214 MGX415 MGX52 MGX63 D1 Ø5 H7 mm Ø7 H7 mm Ø7 H7 mm Ø7 H7 mm Ø7 H7 mm Ø9 H7 mm Ø9 H7 mm D2 Ø3.2 mm Ø4.2 mm Ø4.2 mm Ø4.2 mm Ø5.2 mm Ø6.2 mm Ø6.2 mm SC M3 M4 M4 M4 M5 M6 M6 PC 1.2 mm 1.5 mm 1.5 mm 1.5 mm 1.5 mm 2 mm 2 mm P2 5.5 mm 6 mm 8.4 mm 8.4 mm 9 mm 1 mm 13.5 mm NC M3 CH5.5 M4 CH7 M4 CH7 M4 CH7 M5 CH8 M6 CH1 M6 CH1 RC Ø6 mm Ø8 mm Ø8 mm Ø8 mm Ø9 mm Ø11 mm Ø11 mm Gripping tool fastening The gripping tools must be as short and light as possible. They must be fastened by 2 screws (SD) and 2 centering sleeves (BD). 3/215 MGX25 MGX258 MGX321 MGX3214 MGX415 MGX52 MGX63 D3 Ø5 H7 mm Ø7 H7 mm Ø7 H7 mm Ø7 H7 mm Ø9 H7 mm Ø12 H7 mm Ø9 H7 mm SD M3 M4 M5 M5 M6 M8 M6 P5 6.2 mm 6.7 mm 8.5 mm 8.5 mm 11 mm 14.5 mm 14.5 mm PD 1.2 mm 1.5 mm 1.5 mm 1.5 mm 2 mm 2.5 mm 1.5 mm 33

7 dimension drawing MGX Sensors ø 4 The operating position can be checked by magnetic sensors (optional), detecting the magnet of the piston, or by inductive sensors (optional), detecting the ball (SY) in the LEDappendix (Y). Two adjustable appendixes can be mounted on the jaw using the supplied screws (TY). Use 4mm diameter inductive sensors. 17,5 25 Ordering codes of the inductive sensors: general data mounting type nominal sensing distance Sn hysteresis SI4M225-G NPN 2.5m cable output indicator SI4N225-G PNP 2.5m cable shielded 1 mm % of Sr LED red PNP OUT photo SI... electrical data switching frequency voltage supply range +Vs current consumption max. output circuit voltage drop Vd output current short circuit protection reverse polarity protection mechanical data type material (sensing face) housing material dimension housing length connection types < 5 khz NPN VDC 12 ma PNP make function (NO) < 2 VDC < 1 ma yes yes cylindrical smooth LCP stainless steel 4 mm 25 mm cable, 2 m SY OUT connection diagram BN (1) PNP BK (4) BU (3) Z +VS output V ambient conditions operating temperature C protection class IP 67 The accessories to fix the inductive sensors are supplied in the packaging. standard execution with PUR cable 25 mm housing length The magnetic sensors from Gimatic are the codes: SS4N225-G PNP 2.5m cable SS4M225-G NPN 2.5m cable PNP OUT 13/7/29 SS3N23-G PNP M8 snap plug connector SS3M23-G NPN M8 snap plug connector Magneto-resistive NPN OUT 34 3/215

8 Cautions Never let the unit come into contact with corrosive substances, soldering splashes or abrasive powders as they may damage the gripper. Never let personnel or objects stand within the operating range of the gripper. Never operate the gripper if the machine on which it is fitted does not comply with safety laws and standards of your country. Maintenance Grease the gripper after 1 million cycles with: BERULUB FG-H 2 EP (Lubricant NSF H1 Registration No ). The picture below shows the jaw maximum backlash. 3/215 35

9 Compressed air feeding The compressed air feeding can be accomplished on the lateral air ports (P and R) with fittings and hoses (not supplied). Or it can be accomplished directly by the bottom air ports (G and H) removing the plugs (E and F) and providing other plugs (not supplied) for the lateral air ports (P and R). Compressed air in P - H: gripper opening. Compressed air in R - G: gripper closing. The compressed air, must be filtered from 5 to 4 µm. Maintain the medium selected at the start, lubricated or not, for the complete service life of the gripper. The pneumatic circuit must be pressurized progressively, to avoid uncontrolled movements. O-Ring Ø1x4 (GUAR-91) P R R E G F H P O-Ring groove Ø6H11x Pneumatic circuit Possible problems on a compressed air circuit: 1- Pressure variation. 2- Pressurizing with empty cylinders. 3- Sudden pressure black-out. 4- Excessive speed of the jaws. Possible solutions: 1- Compressed air storage (A). 2- Start-up valve (B). 3- Safety valve (C). 4- Flow controller (D). 36 3/215

10 Spring option It is also available, on request, with a closing (-NC) or opening (-NO) spring, providing, after a pressure black-out, about one fourth of the output force at. MGX25-NC MGX258-NC MGX321-NC MGX3214-NC MGX415-NC MGX52-NC MGX63-NC Closing force at each jaw N N N N N N N Opening force at each jaw N N N N N N N Closing force at bar each jaw N 34 5 N N N N N N Opening force at bar each jaw N N N N N N N MGX25-NO MGX258-NO MGX321-NO MGX3214-NO MGX415-NO MGX52-NO MGX63-NO Closing force at each jaw N N N N N N N Opening force at each jaw N N N N N N N Closing force at bar each jaw N N N N N N N Opening force at bar each jaw N 34 5 N N N N N N In the spring versions the maximum gripping tool length should be 2% shorter. In the spring versions the minimum operating pressure is 3.5bar. 3/215 37

11 Part list MGX25 MGX258 1 Left half body MGX25-1 MGX Right half body MGX25-2 MGX Piston MGX25-3 MGX Slider MGX25-2 MGX Left jaw MGX25-21 MGX Right jaw MGX25-22 MGX Protection MGF25-7 MGF Ball holder MGX25-8 MGX Fixing plate MGX25-9 MGX Inductive sensor housing MGX25-1 MGX Spring MGX25-12 MGX Upper magnet housing MGX25-13 MGX Lower magnet housing MGX25-14 MGX Roller MGX25-23 MGX Magnet EPP12-13 EPP Ball Ø2 DIN541A Ø2 DIN541A Dowel pin Ø3x1 mm Ø3x1 mm Ball Ø2.5 DIN541A Ø2.5 DIN541A Dowel pin Ø3x5.8 mm DIN542 Ø4x7 mm DIN Screw M3x12 mm DIN912 INOX A2 M4x14 mm DIN912 INOX A Screw M2.5x1 mm DIN965A INOX A2 M2.5x1 mm DIN965A INOX A Screw M2x8 mm DIN7985 INOX A2 M2x8 mm DIN7985 INOX A Grub screw M3x3 mm DIN913 Z/B M3x3 mm DIN913 Z/B O-Ring Ø1.78x17.17 HNBR (GUAR-76H) Ø1.78x23.52 HNBR (GUAR-8H) Bush ZBH-5 ZBH /215

12 Part list 3/215 MGX321 MGX3214 MGX415 1 Left half body MGX321-1 MGX MGX Right half body MGX321-2 MGX MGX Piston MGX321-3 MGX Slider MGX321-2 MGX MGX Left jaw MGX MGX MGX Right jaw MGX MGX MGX Protection MGX321-7 MGX MGF Ball holder MGX321-8 MGX Fixing plate MGX321-9 MGX Inductive sensor housing MGX321-1 MGX Spring MGX MGX Upper magnet housing MGX MGX Lower magnet housing MGX MGX Upper support MGX MGX Lower support MGX MGX Guide pin - MGX Roller MGX MGX Magnet EPP12-13 R Ball Ø3x12mm DIN6325 Ø4x12mm DIN Dowel pin Ø2 DIN541A 2 21 Ball Ø2.5 DIN541A Ø3 AA DIN541A Dowel pin Ø5x1mm DIN542 Ø6x12mm DIN Screw M3x3 mm DIN913 Z/B Screw M5x2mm DIN912 INOX A2 M5x25mm DIN912 INOX A Screw M2.5x1mm DIN965A INOX A Grub screw M2x8mm DIN7985 INOX A O-Ring Ø2.62x28.25 HNBR (GUAR-17H) MGX Bush ZBH Bush ZBH-7 ZBH

13 Part list 4 MGX52 MGX63 1 Left half body MGX52-1 MGX Right half body MGX52-2 MGX Piston MGX52-3 MGX Slider MGX52-2 MGX Left jaw MGX52-21 MGX Right jaw MGX52-22 MGX Protection MGF52-7 MGX Ball holder MGX52-8 MGX Fixing plate MGX52-9 MGX Inductive sensor housing MGX52-1 MGX Spring MGX MGX Upper magnet housing MGX52-13 MGX Lower magnet housing MGX52-14 MGX Upper support MGX52-15 MGX Lower support MGX52-16 MGX Guide pin MGX MGX Roller MGX52-23 MGX Magnet R R Ball Ø2.5 DIN541A Ø2.5 DIN541A 19 2 Ball Ø3 AA DIN541A Ø3 AA DIN541A 2 21 Dowel pin Ø6x14 DIN6325 Ø6x14 DIN Dowel pin Ø7x16 DIN542 Ø7x14 DIN Grub screw M3x3 mm DIN913 Z/B M3x3 mm DIN913 Z/B Screw M6x25 DIN912 INOX A2 M8x3 DIN912 INOX A Screw M2.5x1 DIN965A INOX A2 M2.5x1 DIN965A INOX A Screw M2.5x1 DIN912 INOX A2 M2.5x1 DIN912 INOX A Screw M2.9x13 DIN7982 INOX A2 M2.9x13 DIN7982 INOX A O-Ring MGX52-18 MGX Roller cage CUSC-29 CUSC Bush ZBH-9 ZBH Bush ZBH-12 ZBH /215