Product Information. Universal gripper PZN-plus 64

Transcription

1 Product Informaton Unversal grpper PZN-plus 64

2 PZN-plus Unversal grpper Relable. Robust. Flexble. PZN-plus unversal grpper Unversal 3-Fnger Centrc Grpper wth hgh grppng force and maxmum moments due to mult-tooth gudance Feld of applcaton Mult-purpose due to the dverse range of accessores. Can also be used n felds of applcaton wth specal requrements to the grpper (temperature, chemcal resstance, drt, and many more). Advantages Your benefts Robust mult-tooth gudance for precse handlng Hgh maxmum moments possble sutable for usng long grpper fngers Wedge-hook desgn for hgh power transmsson and synchronzed grppng Ar supply va hose-free drect connecton or screw connectons for flexble pressure supply n all automated systems Comprehensve sensor accessory program for versatle queryng possbltes and stroke poston montorng Manfold optons for specal optmsaton for your specfc applcaton (dust-tght, hgh-temperature, corrosonprotected, etc.) Fastenng at one grpper sde n two screw drectons for unversal and flexble grpper assembly Szes Quantty: 11 Weght kg Grppng force N Stroke per jaw mm Workpece weght kg 2

3 PZN-plus Unversal grpper Functonal descrpton The pston s moved up and down by compressed ar. The angled actve surfaces of the wedge-hook produce a synchronzed, centrc jaw movement. PZN-plus 1 Housng Weght-optmzed due to the use of hgh-strength alumnum alloy 3 Sensor system Brackets for proxmty swtches and adjustable control cams n the housng 2 Wedge-hook desgn for hgh force transmsson and centrc grppng 4 Mult-tooth gudance precse grppng through base jaw gudance wth a hgh load capacty and a mnmum play CAD data, operatng manuals and other current product documents can be found onlne. 3

4 PZN-plus Unversal grpper General notes about the seres Operatng prncple: Wedge-hook knematcs Housng materal: Alumnum alloy, anodzed Base jaw materal: Steel Actuaton: pneumatc, wth fltered compressed ar as per ISO :2010 [7:4:4]. Warranty: 36 months Longlfe: 30 years functonal warranty (detals can be found onlne) Scope of delvery: Bracket for proxmty swtch, centerng sleeves, O-rngs for drect connecton, assembly and operatng manual wth Declaraton of Incorporaton. Grppng force: s the arthmetc total of the grppng force appled to each grpper jaw at dstance P (see llustraton). Fnger length: s measured from the reference surface as the dstance P n drecton to the man axs.the maxmum permssble fnger length apples untl the nomnal operatng pressure s acheved. Wth hgher pressures, the fnger length must be reduced proportonally to the nomnal operatng pressure. Repeat accuracy: s defned as the spread of the end poston durng 100 consecutve strokes. Workpece weght: s calculated for force-ft grppng wth a coeffcent of statc frcton of 0.1 and a safety factor of 2 aganst workpece slppage at acceleraton due to gravty g. For form-ft or capture grppng, there are sgnfcantly hgher permssble workpece weghts. Closng and openng tmes: are purely the tmes that the base jaws or fngers are n moton. Valve swtchng tmes, hose fllng tmes, or PLC reacton tmes are not a part of ths and are to be consdered when cycle tmes are calculated. Rotatonal speed for rotary applcatons: ndcates the max. permssble speed allowed wthout further measurements, takng the lmtatons nto account. Applcaton example Inserton tool for assembly of small to medum-szed axes. Due to the rotary feed-through, the axes can be turned several tmes to an unlmted extent (> 360 ). Slp rng contacts ntegrated n the rotary feed-through relably supply the grpper wth power. 1 PZN-plus 3-fnger centrc grpper 2 DDF 2 rotary feed-through 4

5 PZN-plus Unversal grpper SCHUNK offers more... The followng components make the product PZN-plus even more productve the sutable addton for the hghest functonalty, flexblty, relablty, and controlled producton. Compensaton unt Unversal ntermedate jaw Jaw quck-change system Pressure mantenance valve Sensor system Force-measurng jaws Fnger blanks wth quckchange jaw system Addtonal nformaton regardng the products can be found on the followng product pages or at Please contact us for further nformaton: SCHUNK techncal hotlne Optons and specal nformaton Grppng force mantenance verson AS / IS: The mechancal grppng force mantenance verson ensures a mnmum grppng force also n the case of a drop n pressure. In the AS / S verson ths has the effect of a closng force, n the IS verson of an openng force Ant-corroson verson K: for use n corroson-nducng atmospheres Hgh-temperature verson V/HT: for use n hot envronments Force ntensfed verson KVZ: f hgher grppng forces are requred Dust-tght verson SD: absolutely dust-tght, ncreased degree of protecton aganst the penetraton of materals. Precson verson P: for the hghest accuracy ATEX verson EX: for explosve envronments Addtonal versons: Varous optons can be combned wth each other. 5

6 Unversal grpper Grppng force, O.D. grppng Fnger load Grppng force Grppng force, I.D. grppng Pont P - Fnger length M x max. 40 Nm M y max. 60 Nm M z max. 40 Nm F z max N Grppng force The specfed torques and forces are statc values, apply for each base jaw, and may occur smultaneously. M y may arse n addton to the moment generated by the grppng force tself. Pont P - Fnger length Techncal data Descrpton PZN-plus 64-1 PZN-plus 64-2 PZN-plus 64-1-AS PZN-plus 64-2-AS PZN-plus 64-1-IS PZN-plus 64-2-IS ID Stroke per jaw [mm] Closng / openng force [N] 580/ / /- 1285/- -/860 -/1535 Mn. sprng force [N] Weght [kg] Recommended workpece weght [kg] Flud consumpton double stroke [cm³] Mn./max. operatng pressure [bar] 2/8 2/8 4/6.5 4/6.5 4/6.5 4/6.5 Nomnal operatng pressure [bar] Mn./max. ar purge pressure [bar] 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 0.5/1 Closng/openng tme [s] 0.03/ / / / / /0.02 Closng- / openng tme wth sprng [s] Max. permssble fnger length [mm] Max. permssble mass per fnger [kg] Protecton class IP Mn./max. ambent temperature [ C] 5/90 5/90 5/90 5/90 5/90 5/90 Repeat accuracy [mm] Cleanroom class ISO Optons and ther characterstcs Dust-tght verson Protecton class IP Weght [kg] Ant-corroson verson Hgh-temperature verson Mn./max. ambent temperature [ C] 5/130 5/130 5/130 5/130 5/130 5/130 Force ntensfed verson Closng / openng force [N] 1045/ / /- -/1370 Weght [kg] Maxmum pressure [bar] Max. permssble fnger length [mm] Precson verson It may take a few 100 grppng cycles untl the full grppng force (as ndcated n the data table) wll be avalable. 6

7 Unversal grpper Man vew The drawng shows the grpper n the basc verson wth closed jaws, wthout dmensonal consderaton of the optons descrbed below. The SDV-P pressure mantenance valve can also be used for I.D. or O.D. grppng alternatvely or n addton to the sprng-loaded, mechancal grppng force mantenance devce (see catalog secton on accessores). A, a Man / drect connecton, grpper openng B, b Man / drect connecton, grpper closng S Ar purge connecton 1 Grpper connecton 2 Fnger connecton BN Bolt crcle GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part IT Sensor MMS 22.. IK Sensor IN... IL Thread below the cover for fastenng external attachments 7

8 Unversal grpper Hose-free drect connecton M4 Grppng force mantenance devce AS / IS 3 Adapter 4 Grppers The drect connecton s used for supplyng compressed ar wthout hoses. Instead, the pressure medum s fed through bore-holes n the mountng plate. The mechancal grppng force mantenance devce ensures that a mnmum clampng force wll be appled even f there s a drop n pressure. Ths acts as closng force n the AS / S verson, and as openng force n the IS verson. Besdes ths, the grppng force mantenance devce can be used to ncrease the grppng force or for sngle actuated grppng. Dust-tght verson Force ntensfed verson 9 For mountng screw connecton dagram, see basc verson AO Sealng bolt BT For AS / IS verson BK Apples for KVZ verson The dust cover opton ncreases the protecton aganst external partcles. The assembly dagram shfts by the heght of the ntermedate jaw. The fnger length s stll measured from the upper edge of the grpper housng. BT For AS / IS verson The KVZ cylnder ncreases the grppng forces durng openng and closng. A second, n seres-connected pston also ncreases the force on the wedge hook. Please consder that grppers whch are equpped wth a grppng force mantenance devce are hgher. 8

9 Unversal grpper Precson verson Sprng-loaded pressure pece BT For AS / IS verson GL Ft for centerng sleeves GM Ft for centerng pns HT Depth of the centerng sleeve hole n the counter part The ndcated tolerances just refer to the varants of precson versons shown n the chart of techncal specfcatons. All other varants of precson versons are avalable on request. IT Gude pn For sprng-supported postonng of the workpece aganst a stop after the grpper has opened. Especally developed for loadng machnes. Descrpton ID Stroke Mn. force [mm] [N] Sprng-loaded pressure pece A-PZN-plus/DPZ-plus The pressure pece cannot be combned wth the dust-tght opton. Please contact us f you requre a specal pressure pece. SDV-P pressure mantenance valve Protextve cover HUE PZN-plus 64 4 Grppers IT SDV-P pressure mantenance valve The SDV-P pressure mantenance valve ensures n emergency STOP stuatons that the pressure n the pston chamber of pneumatc grpper, swvel, lnear, and quck-change modules s temporarly mantaned. Descrpton ID Pressure mantenance valve SDV-P Pressure mantenance valve wth ar bleed screw SDV-P 07-E For mountng screw connecton dagram, see basc verson The HUE protectve cover fully protects the grpper aganst external nfluences. The cover s sutable for applcatons of up to IP65 f an addtonal sealng of the cover bottom s provded. For detaled nformaton, please see the HUE seres. The connecton dagram shfts by the heght of the ntermedate jaw. Descrpton ID Cleanroom class ISO Protecton class IP Protecton cover HUE PZN-plus

10 Unversal grpper BSWS jaw quck-change jaw systems ZBA-L-plus 64 ntermedate jaws 4 Grppers IT Customzed grpper fngers There are varous jaw quck-change systems avalable for the grpper. For detaled nformaton, please refer to the correspondng product. Descrpton ID Quck-change jaw system adapter BSWS-A BSWS-AR Quck-change jaw system base BSWS-B Jaw quck-change system BSWS-ABR-PGZN-plus BSWS-SBR-PGZN-plus Quck-change Jaw System reversed BSWS-UR Fnger connecton EP Included n the scope of delvery GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part HK Not ncluded n the scope of delvery The optonal ZBA-L-plus ntermedate jaws allow the screw connecton dagram of the top jaws to be rotated by 90. Ths makes t easer to desgn and produce top jaws (partcularly for long versons) because no deep through-bores are requred. Descrpton ID Materal Fnger Scope of delvery nterface Intermedate jaws ZBA-L-plus Alumnum PGN-plus 64 1 Only systems that are lsted n the table, can be used. Felds of applcaton Seres Sze Varant Sutablty PZN-plus 64-1 (6 bar) PZN-plus 64-1-AS / -1-IS (6 bar) PZN-plus 64-2 (6 bar) PZN-plus 64-2-AS / -2-IS (6 bar) PZN-plus KVZ (6 bar) Legend Can be combned wthout restrctons Use wth restrctons (see loadng lmts) cannot be combned The load lmts for descrbng the applcaton lmts can be found n the catalog chapter of the correspondng accessores. If the operatng pressure s hgher than 6 bar, sutablty for use above the applcaton lmts must be checked. 10

11 Unversal grpper UZB 64 unversal ntermedate jaw Force-measurng jaws FMS-ZBA/ ZBP 64 1 Grpper connecton 2 Fnger connecton EN Optonal rght or left connecton EQ Lockng GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part The drawng shows the UZB unversal ntermedate jaw. Descrpton ID Grd dmenson [mm] Unversal ntermedate jaw UZB Fnger blanks ABR-PGZN-plus SBR-PGZN-plus Felds of applcaton Seres Sze Varant Sutablty PZN-plus 64-1 (6 bar) PZN-plus 64-1-AS / -1-IS (6 bar) PZN-plus 64-2 (6 bar) PZN-plus 64-2-AS / -2-IS (6 bar) PZN-plus KVZ (6 bar) Legend Can be combned wthout restrctons Use wth restrctons (see loadng lmts) cannot be combned The load lmts for descrbng the applcaton lmts can be found n the catalog chapter of the correspondng accessores. If the operatng pressure s hgher than 6 bar, sutablty for use above the applcaton lmts must be checked. 1 Grpper connecton 2 Fnger connecton AQ Cable outlet GL Ft for centerng sleeves HT Depth of the centerng sleeve hole n the counter part IT Actve ntermedate jaws IK Passve ntermedate jaws Force-measurng jaws measure grppng forces, but can also determne workpece weghts or dmensonal devatons. There are actve and passve ntermedate jaws (FMS-ZBA or FMS-ZBP). At least one actve force-measurng jaw s requred per grpper, the rest can be passve. For each actve jaw, a FMS-A1 evaluaton unt and a FMS-A connecton cable are requred. Descrpton ID Often combned Actve ntermedate jaws FMS-ZBA Passve ntermedate jaws FMS-ZBP Connecton cables FMS-AK FMS-AK FMS-AK FMS-AK Evaluaton electroncs FMS-A Due to the screw length, the FMS system can not be used n combnaton wth the opton dust-proof (SD) of the grpper. Please note that the admssble force range of the force measurng jaw (see catalog chapter FMS) should not be exceeded for the chosen grpper verson. 11

12 Unversal grpper Fnger blanks ABR- / SBR-PGZN-plus 64 TCU tolerance compensaton unt 2 Fnger connecton GL Ft for centerng sleeves The drawng shows the fnger blank whch can be reworked by the customer. Descrpton ID Materal Scope of delvery Fnger blanks ABR-PGZN-plus Alumnum 1 SBR-PGZN-plus MnCr5 1 IT montorng of lockng Grppers can be drectly mounted wthout an adapter plate. Tolerance compensaton unt and grpper have an dentcal screw connecton dagram. Therefore the tolerance compensaton unts can be assembled later. Please consder the addtonal assembly heght of the tolerance compensaton unt. For detals please refer to our catalog robot accessores. Descrpton ID Lockng Deflecton Often combned Compensaton unt TCU-Z MV yes ±1 /±1 /±1 TCU-Z OV no ±1 /±1 /±1 XY compensaton unt wth sprng return Modular Assembly Automaton IT Montorng Grppers can be drectly mounted wthout an adapter plate. For detals see our catalog Grppng or Robot Accessores. Descrpton ID Compensaton XY Reset force [mm] [N] Compensaton unt AGE-F-XY ± 4 12 AGE-F-XY ± 4 16 Often combned AGE-F-XY ± Grppers IT CLM/KLM/LM/ELP/ELM/ELS/HLM lnear modules IK ASG adapter plate Grppers and lnear modules can be combned wth standard adapter plates from the modular assembly system. For more nformaton see our man catalog "Modular Assembly Automaton". 12

13 Unversal grpper Inductve Proxmty Swtches Flexble poston sensor AQ Cable outlet IT Sensor IN... IK Sensor IN..-SA IT FPS-S sensor IK FPS-F5 evaluaton electronc IL Cable extenson Drectly mounted end poston montorng. Descrpton ID Often combned Inductve Proxmty Swtches IN 80-S-M IN 80-S-M INK 80-S Inductve proxmty swtch wth lateral outlet IN 80-S-M12-SA IN 80-S-M8-SA INK 80-S-SA Cable extenson KV BG12-SG12 3P-0030-PNP KV BG12-SG12 3P-0060-PNP KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP KV BW12-SG12 3P-0030-PNP KV BW12-SG12 3P-0100-PNP KV BW12-SG12 3P-0200-PNP clp for plug/socket CLI-M CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BG12-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP KA BW12-L 3P-0300-PNP KA BW12-L 3P-0500-PNP Sensor dstrbutor V2-M V2-M V4-M V4-M V8-M V8-M Flexble poston montorng of up to fve postons. Descrpton ID Attachment kt for FPS AS-FPS-PGZN-plus 64-1/ Sensor FPS-S M Cable extenson KV BG08-SG08 3P KV BG08-SG08 3P Evaluaton electroncs FPS-F When usng an FPS system, an FPS sensor (FPS-S) as well as an electronc processor (FPS-F5 / F5 T) are requred for each grpper as well as a mountng kt (AS), f lsted. Cable extensons (KV) are optonally avalable - see catalog chapter Accessores. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 13

14 Unversal grpper Electronc magnetc swtches MMS Programmable magnetc swtch MMS 22-PI1 AQ Cable outlet IT Sensor MMS 22.. IK Sensor MMS SA AQ Cable outlet IT Sensor MMS 22 PI1-... IK Sensor MMS 22..-PI1-...-SA End poston montorng for mountng n the C-slot. Descrpton ID Often combned Electronc magnetc swtches MMS MMS 22-S-M8-PNP MMSK 22-S-PNP MMS electronc magnetc swtches wth lateral outlet MMS 22-S-M8-PNP-SA MMSK 22-S-PNP-SA Cable extenson KV BW08-SG08 3P-0030-PNP KV BW08-SG08 3P-0100-PNP KV BW08-SG08 3P-0200-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 3P-0300-PNP KA BG08-L 3P-0500-PNP KA BW08-L 3P-0300-PNP KA BW08-L 3P-0500-PNP Sensor dstrbutor V2-M V4-M V8-M Poston montorng wth one programmable poston per sensor and electroncs ntegrated n the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n scope of delvery) or ST plug teachng tool (optonal). End poston montorng s mounted n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Plug teachng tool ST-MMS 22-PI1-PNP Programmable magnetc swtch MMS 22-PI1 MMS 22-PI1-S-M8-PNP MMSK 22-PI1-S-PNP Programmable magnetc swtch MMS 22-PI1 wth lateral connecton MMS 22-PI1-S-M8-PNP-SA MMSK 22-PI1-S-PNP-SA Programmable magnetc swtch MMS 22-PI1 wth stanless steel housng MMS 22-PI1-S-M8-PNP-HD MMSK 22-PI1-S-PNP-HD Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 14

15 Unversal grpper Programmable magnetc swtch MMS 22-PI2 Programmable magnetc swtches MMS-P AQ Cable outlet IT MMS PI2-... sensor GN Lmt stop for sensor Poston montorng wth two programmable postons per sensor and electroncs bult nto the sensor. Can be programmed usng MT magnetc teachng tool (ncluded n the scope of delvery) or ST plug teachng tool (optonal). End poston montorng for mountng n the C-slot. If the ST plug teachng tools are lsted n the table provded, teachng s only possble wth the ST teachng tools. Descrpton ID Often combned Plug teachng tool ST-MMS 22-PI2-PNP Programmable magnetc swtch MMS 22-PI2 MMS 22-PI2-S-M8-PNP MMSK 22-PI2-S-PNP Programmable magnetc swtch MMS 22-PI2 wth stanless steel housng MMS 22-PI2-S-M8-PNP-HD MMSK 22-PI2-S-PNP-HD Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. Poston montorng wth two programmable postons per sensor. End poston montorng for mountng n the C-slot. Descrpton ID Often combned Programmable magnetc swtches MMS-P MMSK-P 22-S-PNP MMS-P 22-S-M8-PNP clp for plug/socket CLI-M Connecton cables KA BG08-L 4P KA BG08-L 4P KA BW08-L 4P KA BW08-L 4P Sensor dstrbutor V2-M8-4P-2XM8-3P Per unt one sensor (closer/s) s requred, optonally a cable extenson. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 15

16 Unversal grpper APS-Z80 analog poston sensor APS-M1 analog poston sensor No-contact measurng, analog mult-poston montorng for any number of postons. Descrpton ID Often combned Mountng kt for APS-Z80 AS-APS-Z80-PGZN-plus AS-APS-Z80-PGZN-plus Sensor APS-Z80-K APS-Z80-M When usng an APS system, one attachment kt (AS-APS-Z80) and one APS-Z80 sensor are requred per grpper. IT APS-M1S sensor IK APS-M1E electronc processor IL APS-K extenson cable Analog mult poston montorng for any desred postons Descrpton ID Mountng kt for APS-M1 AS-APS-M1-PGZN-plus AS-APS-M1-PGZN-plus Sensor APS-M1S When usng an APS system, for each grpper an attachment kt (AS-APS-M1), an APS-M1S sensor (ncl. 3 m cable) as well as an electroncs (APS-M1e) are requred. An extenson cable (APS-K) can be connected between the sensor and the electroncs as an opton. The max. cable length between the sensor and the electroncs s 10 m, between the electroncs and ther control unt (PLC) t s max. 1 m. Cylndrcal reed swtches End poston montorng can be mounted wth an attachment kt. Descrpton ID Attachment kt for proxmty swtch AS-RMS 80 PGN/PZN-plus 64/ Reed Swtches RMS 80-S-M Two sensors (closer/s) are requred for each unt and extenson cables are avalable as an opton. Ths attachment kt needs to be ordered optonally as an accessory. Two mountng kts are requred for each grpper. For sensor cables, note the mnmum permssble bendng rad. These are generally 35 mm. 16

17 Unversal grpper 17

18 SCHUNK GmbH & Co. KG Spann- und Greftechnk Bahnhofstr D Lauffen/Neckar Tel Fax Folgen Se uns Jens Lehmann, German goalkeeper legend, SCHUNK brand ambassador snce 2012 for safe, precse grppng and holdng. schunk.com/lehmann SCHUNK GmbH & Co. KG