Operating Instructions Handling Components Grippers GPU / GPUI BA-100008 ENGLISH Edition: 10/2005
Operating Instructions GPU / GPUI Change index Previous editions: Edition Note Reference number 10/2005 First edition BA-100008 2
Operating Instructions GPU / GPUI Contents 1 Important information...5 1.1 Manufacturer s declaration...5 1.2 Validity of the User Manual...7 1.3 Technical data GPU-10 / GPUI-10...8 1.4 Dimension diagram GPU-10...10 1.5 Dimension diagram GPUI-10...11 1.6 Technical data for gripper GPU-14 / GPUI-14...12 1.7 Dimension diagram GPU-14...14 1.8 Dimension diagram GPUI-14...15 1.9 Technical data for gripper GPU-20 / GPUI-20...16 1.10 Dimension diagram GPU-20...18 1.11 Dimension diagram GPUI-20...19 1.12 Technical data for gripper GPU-25 / GPUI-25...20 1.13 Dimension diagram GPU-25...22 1.14 Dimension diagram GPUI-25...23 1.15 Definition of loads...24 2 Commissioning...26 2.1 Installation...26 2.2 Mounting position...28 2.3 Operating modes...29 2.4 Air supply...30 2.5 Conversion procedure to closed when depressurised 31 2.6 Securing the gripping force...32 2.7 Connecting and adjusting the inductive proximity switches...33 2.8 Mounting the gripper fingers on GPU grippers...35 2.9 Maintenance...36 3 Exploded views / parts lists...37 3
Operating Instructions GPU / GPUI 3.1 Exploded view GPU...37 3.2 Exploded view GPUI...38 3.3 Parts list / wearing parts GPU / GPUI...39 4 Environmental compatibility...41 5 List of figures...42 4
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 / 681 55 00 Gewerbestrasse 12 Fax +41 (0)32 / 682 19 77 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 292-2 section 4.2.2.3. Failure to comply with this instruction can result in injury, e.g. squeezing of the fingers. 5
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 www.montech.com. Fig. 1.1-1: Nameplate Reference number Product name Serial number Montech AG Management U. D. Wagner C. Wullschleger 6
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-100008) and an edition number (e.g. 10/2005). The order number and the addition number are shown on the title page. 7
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] 0.015 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] 10-50 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
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. 1.3-1: 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
Operating Instructions GPU / GPUI 1.4 Dimension diagram GPU-10 Fig. 1.4-1: 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-10 56244 10
Operating Instructions GPU / GPUI 1.5 Dimension diagram GPUI-10 Fig. 1.5-1: Dimension diagram GPUI-10 Hub = Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI-10 56533 11
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] 0.025 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] 10-50 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
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. 1.6-1: 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
Operating Instructions GPU / GPUI 1.7 Dimension diagram GPU-14 Fig. 1.7-1: 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-14 56245 14
Operating Instructions GPU / GPUI 1.8 Dimension diagram GPUI-14 Fig. 1.8-1: Dimension diagram GPUI-14 Hub = Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI-14 56534 15
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] 0.025 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] 10-50 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
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. 1.9-1: 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
Operating Instructions GPU / GPUI 1.10 Dimension diagram GPU-20 Fig. 1.10-1: 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-20 56246 18
Operating Instructions GPU / GPUI 1.11 Dimension diagram GPUI-20 Fig. 1.11-1: 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 56535 19
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] 0.055 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] 10-50 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
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. 1.12-1: 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
Operating Instructions GPU / GPUI 1.13 Dimension diagram GPU-25 Fig. 1.13-1: 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-25 56247 22
Operating Instructions GPU / GPUI 1.14 Dimension diagram GPUI-25 Fig. 1.14-1: Dimension diagram GPUI-25 Hub : Stroke 1) Inductive proximity switches Ø 6.5mm, installation depth 5.5mm 2) Air connection Designation Ref. no. GPUI-25 56536 23
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. 508842 / with plug ref. no. 508843. Screw-in connection M5, straight, plug-in type Ø /4mm reference no. 504928. 1.15 Definition of loads Fig. 1.15-1: Definition of loads 24
Operating Instructions GPU / GPUI GPU / GPUI -10-14 -20-25 F s permiss. [N] see gripping force diagrams F oy permiss. [N] 25 50 75 100 F oz permiss. [N] 30 50 80 120 Lx permiss. [mm] 40 60 80 100 L y permiss. [mm] 40 60 80 100 Lz permiss. [mm] 50 75 100 125 ( Lx + L y ) permiss. [mm] 40 60 80 100 (L y + L z ) permiss. [mm] 50 75 100 125 (L z + L x ) permiss. [mm] 50 75 100 125 M ox permiss. = F o y L z + F zo L y [Nmm] 250 750 1500 2500 M oy permiss. = F s L z + F oz [Nmm] 1000 3000 5000 11500 L x M oz permiss. = F s L y + F o y L x [Nmm] 800 2300 4000 9000 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
Operating Instructions GPU / GPUI 2 Commissioning 2.1 Installation Laterally displaceable: gripper types GPU-10 to GPU-25 Fig. 2.1-1: 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. 2.1-2: GPU screwed and pinned For information on dimensions see dimension diagrams. 26
Operating Instructions GPU / GPUI Mounting on rotary unit DAPI Gripper types: GPUI-10 to GPUI-25 Fig. 2.1-3: GPUI mounting on rotary unit DAPI with WA DAPI- SRR WA Rotary axis SRR Rotary axis GPUI-10 25 The position of the gripper on the rotary axis may be freely selected. 27
Operating Instructions GPU / GPUI Fig. 2.1-4: GPUI mounting on rotary unit DAPI DAPI- Air supply close gripper finger SRR Rotary axis GPUI-10 25 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
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. 2.3-1: External gripping Fig. 2.3-2: 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
Operating Instructions GPU / GPUI 2.4 Air supply Fig. 2.4-1: Air supply GPU Gripper closed Gripper open Fig. 2.4-2: Internal air supply GPUI Gripper closed Gripper open 30
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. 2.5-1: 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
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. 46582. Compared with the use of springs to secure the gripping force, this has the advantage of maintaining the gripping force at 100%. Fig. 2.6-1: 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
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. 2.7-1: 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
Operating Instructions GPU / GPUI Adjusting procedure Gripper closed (B): See Fig. 2.7-1: 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. 2.7-2: Connection diagram for inductive proximity switch Direct current (DC) braun : brown schwarz : black blau : blue Direct current (DC) 34
Operating Instructions GPU / GPUI 2.8 Mounting the gripper fingers on GPU grippers Fig. 2.8-1: Mounting the gripper fingers on the outside of the jaws Fig. 2.8-2: Mounting the gripper fingers on the inside of the jaws For information on connection dimensions of gripper fingers see dimension diagrams. 35
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. 504721), particularly the mechanical guide For further information about our services, support and downloads, please visit our homepage at www.montech.com or contact your local representative 36
Operating Instructions GPU / GPUI 3 Exploded views / parts lists 3.1 Exploded view GPU Fig. 3.1-1: Exploded view GPU 37
Operating Instructions GPU / GPUI 3.2 Exploded view GPUI Fig. 3.2-1: Exploded view GPUI 38
Operating Instructions GPU / GPUI 3.3 Parts list / wearing parts GPU / GPUI No. Part Ref. no. Material GPU / GPUI -10-14 -20-25 10 Casing 56165 56166 56167 56168 Aluminium 20 Piston 56157 56160 56161 56162 Bronze 30* Compression spring 505396 505400 505401 505402 Steel 40* O-ring 7x1.5 504225 - - - NBR 40* O-ring 11x1.5-505986 - - NBR 40* O-ring 15x2.5 - - 505985 - NBR 40* O-ring 20x2.5 - - - 520055 NBR 50* Gripping jaw, right 56148 56151 56153 56155 Steel 60* Gripping jaw, left 56149 56152 56154 56156 Steel 70* Guide roller 46287 46288 46289 46290 Steel 80* Cylindrical pin Ø3h6x14 502023 - - - Steel 80* Cylindrical pin Ø3h6x18-502024 - - Steel 80* Cylindrical pin Ø4h6x28 - - 502040 - Steel 80* Cylindrical pin Ø4h6x32 - - - 505309 Steel 90* Roller for piston 43351 43123 43269 43269 Steel 100* Cylindrical pin Ø2h6x6 502008 - - - Steel 100* Cylindrical pin Ø2.5h6x10-502014 - - Steel 100* Cylindrical pin Ø3h6x14 - - 502023 502023 Steel 110 Cover GPU 56229 56239 56240 56241 Aluminium 110 Cover GPUI 56539 56541 56542 56543 Aluminium 130 Cylindrical pin Ø2.5h6x6 505308 - - - Steel 130 Cylindrical pin Ø3h6x8-502021 502021 502021 Steel 140 Chhd screw M3x10 502503 502503 - Steel 140 Chhd screw M3x12 - - 502504 - Steel 140 Chhd screw M4x12 - - - 502506 Steel 160 Ribbed washer M3 505385 505385 505385 - Steel 160 Ribbed washer M4 - - - 502606 Steel 170* O-ring 11x1 505310 - - - NBR 170* O-ring 15x1-500364 - - NBR 170* O-ring 21x1 - - 505311 - NBR 170* O-ring 26x1 - - - 505312 NBR 180 Holder for initiator 56169 56170 56171 56172 Aluminium 190 Ribbed washer M3 505385 505385 505385 505385 Steel * Marked articles are wearing parts; they are available from stock. 39
Operating Instructions GPU / GPUI No. Part Ref. no. Material GPU / GPUI -10-14 -20-25 200 Chhd screw M3x10 502503 502503 502503 502503 Steel 210* Clamping screw 47904 47904 47904 47904 Steel 220 Spacer 56173 56174 56175 56176 Steel 230 Chhd screw M3x12 502504 - - - Steel 230 Chhd screw M3x14-520057 - - Steel 230 Chhd screw M3x22 - - 520058 - Steel 230 Chhd screw M3x25 - - - 506707 Steel 240 Ribbed washer M3 505385 505385 505385 505385 Steel 250 Screw-in connect. M5 504928 504928 504928 504928 Steel 250 Blind plug M5 GPUI 502289 502289 502289 502289 Steel 260* Clamping block 47906 47906 47906 47906 Steel 290 Pictograph GPU 47373 47373 47373 47373 Polyester 900 Nameplate CE 41620 41620 41620 41620 Polyester * Marked articles are wearing parts; they are available from stock. 40
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
Operating Instructions GPU / GPUI 5 List of figures Fig. 1.1-1: Nameplate... 6 Fig. 1.3-1: Gripping force diagram GPU-10 / GPUI-10... 9 Fig. 1.4-1: Dimension diagram GPU-10... 10 Fig. 1.5-1: Dimension diagram GPUI-10... 11 Fig. 1.6-1: Gripping force diagram GPU-14 / GPUI-14... 13 Fig. 1.7-1: Dimension diagram GPU-14... 14 Fig. 1.8-1: Dimension diagram GPUI-14... 15 Fig. 1.9-1: Gripping force diagram GPU-20 / GPUI-20... 17 Fig. 1.10-1: Dimension diagram GPU-20... 18 Fig. 1.11-1: Dimension diagram GPUI-20... 19 Fig. 1.12-1: Gripping force diagram GPU-25 / GPUI-25... 21 Fig. 1.13-1: Dimension diagram GPU-25... 22 Fig. 1.14-1: Dimension diagram GPUI-25... 23 Fig. 1.15-1: Definition of loads... 24 Fig. 2.1-1: GPU laterally displaceable... 26 Fig. 2.1-2: GPU screwed and pinned... 26 Fig. 2.1-3: GPUI mounting on rotary unit DAPI with WA... 27 Fig. 2.1-4: GPUI mounting on rotary unit DAPI... 28 Fig. 2.3-1: External gripping Fig. 2.3-2: Internal gripping... 29 Fig. 2.4-1: Air supply GPU... 30 Fig. 2.4-2: Internal air supply GPUI... 30 42
Operating Instructions GPU / GPUI Fig. 2.5-1: Conversion procedure to closed when depressurised... 31 Fig. 2.6-1: Wiring diagram for securing the gripping force... 32 Fig. 2.7-1: End position scanning using inductive proximity switches... 33 Fig. 2.7-2: Connection diagram for inductive proximity switch34 Fig. 2.8-1: Mounting the gripper fingers on the outside of the jaws... 35 Fig. 2.8-2: Mounting the gripper fingers on the inside of the jaws... 35 Fig. 3.1-1: Exploded view GPU... 37 Fig. 3.2-1: Exploded view GPUI... 38 43
MONTECH AG Gewerbestrasse 12, CH-4552 Derendingen Fon +41 32 681 55 00, Fax +41 32 682 19 77 info@montech.com, www.montech.com