Seamless Integration of PHD Grippers to Universal Robots

Transcription

1 Seamless Integration of PH Grippers to Universal Robots PNEUON02

2 ENEFITS n Provides seamless, cost-effective, pneumatic end-effector integration for collaborative robots n Incorporated M valves n ouples directly to the robot arm tool port enabling pneumatic gripping capability n oming soon to the Universal Robots+ online showroom n Requires customer-supplied tooling Pneu-onnect with GRT 3 Jaw Parallel oncentric Gripper internal communication port delivers air to gripper Pneu-onnect with GRH Long Jaw Travel Parallel Gripper gripper mounting surface controller board exhaust port air inlet port direct mount to UR Robot built-in M valves connects directly to UR Robot tool port PNEU-ONNET KITS KIT NUMER KIT INLUES Pneu-onnect, GRH x75-L11-U99, gripper mounting plate, 2 integrated switches for sensing gripper open and close Pneu-onnect, GRT , gripper mounting plate NOTE: Kits include URap integration software (List marks of PH which appear on promotional material) are either registered trademarks or trademarks of PH, Inc. ny other marks or names referenced herein are either registered trademarks or trademarks of their respective owners. No association with or endorsement of any company, organization, or product is intended or should be inferred. Tool changer devices can add quick and easy change of end effectors Tool changing solutions available at 2 opyright 2018, by PH, Inc. ll Rights Reserved. Printed in the U.S.. PNEUON02 (800)

3 INTEGRTION SOFTWRE: URP Intuitive, easy setup and programming of the Pneu-onnect end of arm devices through the UR Robot Teach Pendant. IMENSIONS: PNEU-ONNET KITS PNEU-ONNET WITH LONG JW TRVEL PRLLEL GRIPPER Total Weight: 1.34 kg [2.95 lb] PNEU-ONNET WITH 3 jaw PRLLEL concentric GRIPPER Total Weight: 1.08 kg [2.38 lb] Ø M8 STRIGHT FEMLE ONNETOR, 8 POLES GRIPPER PER GRH X75-L11-U ETIL VIEW OF FITTING M8 STRIGHT FEMLE ONNETOR, 8 POLES GRIPPER PER GRT MOUNTING TO ROOT ONFORMS TO INTERFE ESIGNTION ISO M6 Ø FITTING FOR 5/32 in OR 4 mm O TUING MOUNTING TO ROOT ONFORMS TO INTERFE ESIGNTION ISO M6 Ø ll dimensions are reference only unless specifically toleranced. (800) PNEUON02

4 ENGINEERING T: LONG JW TRVEL PRLLEL GRIPPER SPEIFITIONS SERIES GRH METRI IMPERIL OPERTING PRESSURE (SIZE 12) 1.4 bar min to 6.9 bar max 20 psi min to 100 psi max OPERTING TEMPERTURE -28 min to 82 max -20 F min to 180 F max GRIP REPETILITY ±0.05 mm of original position ±0.002 in of original position RTE LIFE 5 million cycles LURITION Factory lubricated for rated life Mz Mx Fa Mx MINIMUM TOTL JW TRVEL TOTL GRIP FORE T 6 bar [87 psi] GRIPPER WEIGHT ONE IRETION ISPLEMENT LOSE OR OPEN TIME T 6 bar [87 psi] MX TOOLING LENGTH GRIP FORE FTOR MOEL NO. mm in N lb kg lb cm 3 in 3 sec mm in METRI IMPERIL GRH My My XIL FORE MXIMUM INIVIUL MOMENTS Fa Mx My Mz MOEL NO. N lb N-m in-lb N-m in-lb N-m in-lb GRH TOOLING LENGTH FTOR s the grip point is moved away from the jaw surface the grip force is reduced due to additional friction generated by the grip induced moment. The tooling length factor allows calculation of the grip force at any grip point. The graph also indicates the maximum tooling length for each gripper size. Fa: Total for both jaws Mx: Maximum allowable moment per jaw, relative to the reference plane My: Maximum allowable moment per jaw, relative to the geometric center of the jaw finger Mz: Maximum allowable moment per jaw, relative to the reference plane When calculating the value for Fa, include the tooling weight, part weight, external forces, and accelerations. When calculating values for Mx, My, and Mz, include the grip force per jaw, tooling weight, part weight, external forces, and accelerations as applicable. GRIP FORE LULTION EQUTIONS: METRI: Total Grip Force (N) = (Pressure [bar] x GF) x Tooling Length Factor IMPERIL: Total Grip Force (lb) = (Pressure [psi] x GF) x Tooling Length Factor GRIP FORE Total gripping force relative to tooling length is shown below at 6 bar [87 psi] pressure. Grip force per jaw equals the total grip force divided by two. The graphs also indicate the maximum tooling length for each gripper size. TOOLING LENGTH FTOR (GF) [1] TOOLING LENGTH FTOR 50.8 [2] 76.2 [3] [4] TOOL ENTERPOINT mm [in] 127 [5] [6] TOTL GRIP FORE N [lb] 350 [78.7] 300 [67.4] 250 [56.2] 200 [45.0] 150 [33.7] 100 [22.5] 50 [11.2] [0.8] GRIP FORE T 6 bar [87 psi] 40 [1.6] 60 [2.4] 80 [3.1] 100 [3.9] TOOL ENTERPOINT mm [in] 120 [4.7] 140 [5.5] 160 [6.3] 4 PNEUON02 (800)

5 IMENSIONS: LONG JW TRVEL PRLLEL GRIPPER 2X M5 x 0.8 x 10 mm P TH L 2X Ø 4 mm x 4 mm P [H9] OWEL PIN HOLE X M5 x 0.8 x 10 mm P TH MNIFOL OPTION L11-U X Ø 4 mm x 4 mm P [H9] OWEL PIN HOLE X THRU HOLE FOR M4 MOUNTING FSTENER X THRU HOLE FOR M4 MOUNTING FSTENER (JWS MUST E IN THE LOSE POSITION TO ESS) X Ø 3 mm x 3 mm P [H9] OWEL PIN HOLE 4X M4 x 0.7 x 8 mm P TH * *OPEN / -0.0 *LOSE / NOTES: 1) LL IMENSIONS RE mm IMPERIL VLUE = mm/25.4 2) ESIGNTE IS ENTERLINE OF UNIT 3) OPEN REFLETS SMLLEST POSSILE OPEN IMENSION LOSE REFLETS LRGEST POSSILE LOSE IMENSION ll dimensions are reference only unless specifically toleranced. (800) PNEUON02

6 ENGINEERING T: 3 jaw PRLLEL concentric GRIPPER SPEIFITIONS OPERTING PRESSURE OPERTING TEMPERTURE RTE LIFE GRIP REPETILITY YLE TIME LURITION MINTENNE SERIES GRT psi min to 100 psi max [2 bar min to 7 bar max] air -20 to +180 F [-28 to +82 ] 10 million cycles minimum with standard seals Within ±0.002 in [±0.05 mm] of original centered position See table below Factory lubricated for rated life Field repairable TOTL diametral JW TRVEL TOTL LOSE GRIP FORE T 87 psi [6 bar] GRIPPER WEIGHT LOSE OR OPEN TIME 87 psi [6 bar] ISPLEMENT EXTERNL GRIP GRIP FORE FTOR GF INTERNL GRIP MOEL NO. mm in N lb kg lb sec cm³ in³ METRI IMPERIL METRI IMPERIL GRT Minimum operating pressure is 30 psi [2 bar] for standard unit. TOOL ENTERPOINT TOOLING WEIGHT MX. PER JW MOEL NO. mm in kg lb GRT TOOLING LENGTH FTOR Tooling should be designed so that the grip point is as close to the body surface as possible. When the grip point moves away, jaw friction increases, which decreases grip force. The GF information given to the right is for zero tooling length (body surface). The graph shows how force decreases as the grip point moves away from the body surface. GRIP force LULTION Equations: METRI: Total Grip Force (N) = (Pressure [bar] x GF) x Tooling Length Factor PRT F/3 F/3 F=TOTL GRIP FORE TOOL ENTERPOINT TOOLING LENGTH FTOR (GF) TOOLING LENGTH FTOR 25 [1] 51 [2] 76 [3] 102 [4] TOOL ENTERPOINT mm [in] IMPERIL: Total Grip Force (lb) = (Pressure [psi] x GF) x Tooling Length Factor 6 PNEUON02 (800)

7 IMENSIONS: 3 jaw PRLLEL concentric GRIPPER X 4.0 x 8.0 P / LOSE OPEN 2X ORIFIE I (MY E USE FOR MNIFOL PORTING) Ø / R OLT IRLE 22.5 ± 0.5 OPEN 2X M4 x 0.7 x 6.5 P THRE EH JW LOSE / [H7] NOTES: 1) LL IMENSIONS RE mm IMPERIL VLUE = mm/25.4 2) ESIGNTE IS ENTERLINE OF UNIT /-0.0 3X THRU HOLE FOR M5 MOUNTING SREW M6 x 1.0 x 12.0 P THRE FROM OPPOSITE SIE L ll dimensions are reference only unless specifically toleranced. (800) PNEUON02

8 OTHER GRIPPERS TO ONSIER GR Grip Force: 13 to 549 lb [57 to 2443 N] Minimum istance: 0.44 to 1.90 in [11.3 to 48.3 mm] Three total jaw rotations are available 60, 90, and 180 Potentially eliminates need for additional axis in some applications GRS Grip Force: 68 to 289 lb [302 to 1287 N] Nominal Jaw Travel: to in [4.5 to 44 mm] Low profile, high force Rugged jaw support, hardened jaws and hardcoated bearing surfaces Two jaw travels each size Pneu-onnect mounting surface can be modified to accept additional grippers and actuators. GRV GRW GR GRL MGNETI MOEL Grip Force: 2.0 to 28 lb [10 to 159 N] Grip Force: 36 to 429 lb [160 to 1908 N] Grip Force: 2.55 to 27.7 lb [11 to 123 N] Grip Force: 28 to 41 lb [124 to 182 N] Max Pull Force: to lb [2.2 to 49 N] Minimum istance: to in [8.2 to 15.1 mm] ompact, flexible design provides large moment capacities and long tooling lengths Robust construction ensures long operating life ouble acting for use in both internal and external gripping applications Nominal Jaw Travel: 0.79 to 4.61 in [20 to 117 mm] Jaws have large tooling surfaces and precision dowel holes for accurate tooling attachment Large diameter jaw guides allow long tooling lengths and high moment capabilities and reduce deflection ependable design Nominal Jaw Travel: to in [4 to 13 mm] ompact, flexible design for large moment capacities and longer tooling Fully supported hardened steel jaws for long life, minimal wear and high moment capability Robust construction Nominal Jaw Travel: 0.28 to 1.02 in [7 to 26 mm] Parallel jaw motion simplifies jaw tooling design and is ideal for gripping parts of varying sizes Narrow width, low profile, and long jaw travel No expensive tooling One less axis of motion Variability of part pickup Stainless steel cap improves durability No electric lines required 8 PNEUON02 (800)

9 OTHER UNIVERSL ROOT MOUNTING SOLUTIONS oes not include integrated Pneu-onnect solutions UR3 UR5 UR10 ENEFITS n Gripper plate mounts directly to robot n Low-cost solution without manifolding, valves, switches, or URap software n Six series of grippers available to fit unique application requirements n Includes fasteners for mounting standard unit n Switches available for sensing jaw position n ontact PH for further technical assistance Series GRT Series GR/GRV Series GRH Series GRK Series GRW UNIVERSL ROOTS UR3 UR5 UR10 MXIMUM PYLO 3 kg 5 kg 10 kg REH 500 mm 850 mm 1300 mm WEIGHT 11 kg 18.4 kg 28.9 kg Magnet Gripper SPEIFITIONS GRH Gripper Extra Long Jaw Travel, Low Profile Parallel GRK Gripper High Force, Low Profile Parallel GR Gripper Small Profile Parallel GRV Gripper Small Profile ngular GRW Gripper Two Jaw, Wide ody Parallel GRT Gripper Low Profile, Three Jaw Parallel MGNET Gripper ompact SIZE RNGE 8, 12, 16 35, 46, 58 6, 10, 16, 20 6, 10, 16, 20 16, 25 1, 2, 3 4 USTOMER MOUNTING metric metric & imperial metric metric metric & imperial metric & imperial metric & imperial GRIP FORE 6 R 53 N N 383 N N 11 N N 10.5 N N 160 N N 196 N N (2.2 N - 49 N) TOTL JW TRVEL RNGE / NGLE 50 mm mm 6.5 mm - 20 mm 4 mm - 13 mm mm - 53 mm 6 mm - 12 mm (diametral) MX TOOLING LENGTH RNGE 75 mm mm 102 mm mm 30 mm mm 30 mm - 80 mm 125 mm mm 40 mm - 65 mm WEIGHT RNGE 0.34 kg kg 0.38 kg kg kg kg kg kg 0.3 kg kg 0.12 kg kg 0.12 kg kg MIN PRESSURE 1.4 bar 2.5 bar 2 bar 1 bar 2 bar 2 bar 0.7 bar MX PRESSURE 6.9 bar 8 bar 8.3 bar 8.3 bar 7 bar 7 bar 10 bar RTE LIFE 5 million cycles 10 million cycles 5 million cycles 10 million cycles 6 million cycles 10 million cycles 5 million cycles SWITHES Series J, Prox Series J, Prox Series J Series J Prox Prox GRIP REPETILITY ± 0.05 mm ± 0.01 mm ± 0.01 mm ± 0.05 mm ± 0.05 mm MX MOMENT RNGE - F 98 N N 1201 N N 14 N N 13 N N 270 N N 218 N N MX MOMENT RNGE - MX* 3 Nm - 24 Nm 99 Nm Nm 0.4 Nm Nm 22 Nm - 64 Nm 13 Nm - 30 Nm (lose) MX MOMENT RNGE - MY* 2 Nm - 17 Nm 74 Nm Nm 0.19 Nm Nm 0.23 Nm Nm 22 Nm - 64 Nm 4.6 Nm - 25 Nm MX MOMENT RNGE - MZ* 2 Nm - 17 Nm 45 Nm Nm 0.19 Nm Nm 0.14 Nm Nm 10 Nm - 22 Nm 5 Nm - 15 Nm *Maximum moment with all jaws 9 (800) PNEUON02

10 OTHER UNIVERSL ROOT MOUNTING SOLUTIONS oes not include integrated Pneu-onnect solutions GRH GRIPPER ML# GRH Size PH Part Number Weight (kg) GRK GRIPPER ML# GRH Size PH Part Number Weight (kg) x x x x = -1 for imperial, -5 for metric Ø GR / GRV Size GR/GRV GRIPPER ML# PH Part Number Ø Weight (kg) * Ø Ø *Size 20 requires -GR9 option for mounting GRW GRIPPER ML# GRW Size PH Part Number Weight (kg) x x Ø x = -1 for imperial, -5 for metric Ø Ø 10 ll dimensions are reference only unless specifically toleranced. PNEUON02 Ø (800)

11 OTHER UNIVERSL ROOT MOUNTING SOLUTIONS oes not include integrated Pneu-onnect solutions GRT GRIPPER ML# Ø GRT Size PH Part Number Ø Weight (kg) x x x Ø x = -1 for imperial, -5 for metric Ø Size MGNET GRIPPER ML# PH Part Number* Ø Weight (kg) *-1 for imperial, -5 for metric Ø dditional Options vailable SERIES GRH SERIES GRK SERIES GR SERIES GRV SERIES GRW SERIES GRT fluoroelastomer seals cleanroom lube manifold NPN & PNP solid state switches Imperial ports (size 20) fluoroelastomer seals spring assist closed spring assist open manifold NPN & PNP solid state switches inductive proximity switches Imperial interface fluoroelastomer seals cleanroom lube manifold NPN & PNP solid state switches fluoroelastomer seals cleanroom lube manifold NPN & PNP solid state switches corrosion resistant manifold inductive proximity switches hall effect switches Imperial interface fluoroelastomer seals part ejector manifold NPN proximity switches spring assist closed spring assist open finger blanks Imperial interface ll dimensions are reference only unless specifically toleranced. (800) PNEUON02

12 The Right Gripper for Your Part - Robotic end effector solutions - ngular & parallel, many sizes and options available - Unique solutions available - For handling various sized parts - Superior design & delivery 12 PNEUON02 2.5M 1/