G R I P P E R S English edition 10/2012

Transcription

1 GRIPPERS English edition 10/2012

2 76 GRIPPERS CONTENTS PRECISION PARALLEL GRIPPERS PRECISION PARALLEL MINI GRIPPERS UNIVERSAL PARALLEL GRIPPERS LONG-STROKE GRIPPERS

3 77 UNIVERSAL ANGULAR GRIPPERS SPECIAL ACCESSORIES for Parallel Mini Grippers 109 Ø3 Ø L

4 78 PRECISION PARALLEL GRIPPERS GPP PRODUCT DESCRIPTION The Precision Parallel Gripper GPP is used for demanding applications. The GPP is designed for internal and external gripping and is double-acting. It can easily be converted between the functions «open when depressurized» and «closed when depressurized». The end positions can be detected by means of proximity switches. The gripper body contains tapped holes for fitting external positioners or part sensing devices. Safety throttling orifices protect the grippers against overloading by high forces of the gripping fingers. The high precision the ball bearings guarantee a high mechanical efficiency, a remarkably long life and high reliabilty.

5 79 APPLICATIONS Revolver pivot unit; with Rotary Drive DAP and two Grippers GPP for workpiece loading and unloading. Precise gripping and rotary movement; without radial deviation of the workpiece relative to the axis of rotation, realized by means of a Rotary Drive DAPI with internal air supply.

6 80 PRECISION PARALLEL GRIPPERS GPP/GPPI/GPP-ISO Three sizes in three variants each. With dovetail for easy mounting/adjustment and with standard pattern of holes for all sizes. I version; for mounting on a Rotary Drive DAPI with internal air supply. ISO version; gripper mounting according to ISO A40 for robots. SCOPE OF DELIVERY With clamping device for proximity switches and a spring. GPP-ISO with two exhaust throttles. Internal air versions without compressed air supplies. SUITABLE ACCESSORIES Accessories from page 303 Quick-Set from page 1

7 81 GRIPPING FORCE DIAGRAM EXAMPLES Example GPP-1 External gripping without spring Operating pressure 5 bar L = 70 mm F1 = 28 N Example GPP-2 Internal gripping without spring Operating pressure 5 bar L = 100 mm F2 = 82 N F1, F2 = Gripping force per gripper finger B in gripped state [mm] External gripping with spring (closed when depressurized) Operating pressure 5 bar L = 60 mm B = 53 mm F1 = 35 N F1 at 0 bar = 6 N Internal gripping with spring (open when depressurized) Operating pressure 5 bar L = 80 mm B = 80 mm F2 = 117 N F2 at 0 bar = 32 N DEFINITION AND LOAD CALCULATIONS AT THE GPP-GRIPPER F1, 2 Gripping force [N], as gripping force diagram Fy, Fz Outer, forces acting [N] Lx, Ly, Lz Distances of force application [m] Mx, My, Mz Load moments [Nm] b Load factor: must not exceed the value 1! K1, K2, K3 Load limit constants European projection K1 K2 K3 GPP GPP GPP Mx = Fz Ly + Fy Lz My = F1, 2 Lz + Fz Lx Mz = F1, 2 Ly + Fy Lx b = Mx + My + Mz < 1 K1 K2 K3

8 82 PRECISION PARALLEL GRIPPERS GPP/GPPI SIZE 1 Gripping distance = stroke [mm] 6 Gripping distance adjustable opening/closing yes Efficiency 0.77 Opening/Closing time 1) [s] Weight GPP/GPPI [kg] 0.25/0.26 Mass moment of inertia Jz [kgcm 2 ] 0.87 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± Check on end position open/closed 3) inductive proximity switches Pneumatic connection M5 Thread for mounting positioners 4xM3 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar p = 5 bar p = 4 bar p = 3 bar p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed max. finger length L [mm] B in gripped state (mm) p = pneumat. pressure Fed = Spring Gripping direction F2 F1

9 83 European projection GPP ø40 GPPI Clamping sleeve for proximity switch 6.5 dia GPP 40 GPPI 28 GPP 32 GPPI 3 Y 4 X 12.5 min max ) F* 1 F* 2 F* 2 F* 1 L* M3x5 (4x) ) 2) B min. 50/max. 56 Stroke 6 26 ±0.02 1) Hole M4x8 View Y GPPI Air supply per mounting part ± ±0.1 Thread 10 ±0.02 3H7x5 View Y GPP 9.5 View X Gripping jaw H8 M3x ±0.05 M3x6 M3x6 Air supply M * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP GPPI

10 84 PRECISION PARALLEL GRIPPERS GPP-ISO SIZE 1 Gripping distance = stroke [mm] 6 Gripping distance adjustable opening/closing yes Efficiency 0.77 Opening/Closing time 1) [s] Weight [kg] 0.28 Mass moment of inertia Jz [kgcm 2 ] 0.87 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± Check on end position open/closed 3) inductive proximity switches Pneumatic connection adjustable exhaust throttles M5, with plug, hose-ø 4 mm Thread for mounting positioners 4xM3 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar p = 5 bar p = 4 bar p = 3 bar p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed max. finger length L [mm] B in gripped state (mm) p = pneumat. pressure Fed = Spring Gripping direction F2 F1

11 85 European projection ± ø25 g6 Clamping sleeve for proximity switch 6.5 dia X 12.5 min max ) 3 L* Air supply Exhaust throttles with plug 4 dia. M3x5 (4x) ) 2) F* 1 F* 2 F* 2 F* 1 B min. 50/max. 561) Stroke 6 20 ±0.01 M5x9 View X Gripping jaw ø6 h ±0.05 M3x H8 7.5 M3x5 M3x * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP-1-ISO 39814

12 86 PRECISION PARALLEL GRIPPERS GPP/GPPI SIZE 2 Gripping distance = stroke [mm] 12 Gripping distance adjustable opening/closing yes Efficiency 0.82 Opening/Closing time 1) [s] Weight GPP/GPPI [kg] 0.68/0.68 Mass moment of inertia Jz [kgcm 2 ] 4.3 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.02 Check on end position open/closed 3) inductive proximity switches Pneumatic connection M5 Thread for mounting positioners 4xM3 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar p = 5 bar p = 4 bar p = 3 bar p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed B in gripped state (mm) max. finger length L [mm] Gripping direction F2 F1 p = pneumat. pressure Fed = Spring

13 87 European projection GPP ø40 GPPI Housing contour of GPPI Clamping sleeve for proximity switch 6.5 dia Y GPP 57 GPPI 42 GPP 49 GPPI X 12.5 max. 50 min. 38 1) L* 1.2 M3x6 (4x) ) 2) F* 1 F* 2 F* 2 B min. 75/max. 871) Stroke ±0.02 Hole F* 1 M4x8 View Y GPPI Air supply per mounting part ±0.1 3H7x5 10 ±0.02 View Y GPP 12 View X Gripping jaw 18 ±0.05 M4x6 21 5H8 26 ±0.1 Thread M4x5 M4x Air supply M * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP GPPI

14 88 PRECISION PARALLEL GRIPPERS GPP-ISO SIZE 2 Gripping distance = stroke [mm] 12 Gripping distance adjustable opening/closing yes Efficiency 0.82 Opening/Closing time 1) [s] Weight GPP-ISO [kg] 0.72 Mass moment of inertia Jz [kgcm 2 ] 4.3 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.02 Check on end position open/closed 3) inductive proximity switches Pneumatic connection adjustable exhaust throttles M5, with plug, hose-ø 4 mm Thread for mounting positioners 4xM3 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar p = 5 bar p = 4 bar p = 3 bar p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed B in gripped state (mm) max. finger length L [mm] Gripping direction F2 F1 p = pneumat. pressure Fed = Spring

15 89 European projection 75 ø25 g Clamping sleeve for proximity switch 6.5 dia Air supply Exhaust throttles with plug 4 dia. 4 X 12.5 max. 50 min. 38 1) L* 1.2 M3x6 (4x) ) ) 4.5 F* 1 F* 2 F* 2 F* 1 B min. 75/max. 87 Stroke 12 1) 20 ± M5x12 ø6 h6 View X Gripping jaw 18 ±0.05 M4x6 21 5H8 M4x5 M4x * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP-2-ISO 39817

16 90 PRECISION PARALLEL GRIPPERS GPP/GPPI SIZE 3 Gripping distance = stroke [mm] 20 Gripping distance adjustable opening/closing yes Efficiency 0.86 Opening/Closing time 1) [s] 0.12 Weight GPP/GPPI [kg] 1.32/1.42 Mass moment of inertia Jz [kgcm 2 ] 14.0 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.03 Check on end position open/closed 3) inductive proximity switches Pneumatic connection M5 Thread for mounting positioners 4xM4 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed B in gripped state (mm) p = 6 bar p = 5 bar p = 4 bar p = 3 bar max. finger length L [mm] Gripping direction F1 F2 p = pneumat. pressure Fed = Spring

17 91 European projection GPP ø40 GPPI Clamping sleeve for proximity switch 6.5 dia GPP 68 GPPI 55 GPP 60 GPPI Y X 16 min ) max L* M4x9 (4x) 22 3) ) 5 F* 1 F* 2 F* 2 F* 1 B min. 100/max ) Stroke 20 View Y GPPI Air supply per mounting part 26 ±0.02 Hole M4x ± ±0.1 Thread 3H7x5 10 ±0.02 View Y GPP 21.5 View X Gripping jaw 23.5 ±0.05 M4x H8 M4x7 M4x Air supply M * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP GPPI

18 92 PRECISION PARALLEL GRIPPERS GPP-ISO SIZE 3 Gripping distance = stroke [mm] 20 Gripping distance adjustable opening/closing yes Efficiency 0.86 Opening/Closing time 1) [s] 0.12 Weight GPP-ISO [kg] 1.42 Mass moment of inertia Jz [kgcm 2 ] 14.0 Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.03 Check on end position open/closed 3) inductive proximity switches Pneumatic connection M5 Thread for mounting positioners 4xM4 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze, plastic 1) Measured at max. travel between 3 and 6 bar, without spring 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM Gripping force per gripper finger F1, F2 [N] p = 6 bar + Fed p = 5 bar + Fed p = 4 bar + Fed p = 3 bar + Fed Fed B in gripped state (mm) p = 6 bar p = 5 bar p = 4 bar p = 3 bar max. finger length L [mm] Gripping direction F1 F2 p = pneumat. pressure Fed = Spring

19 93 European projection ø25 g Clamping sleeve for proximity switch 6.5 dia Air supply M X 16 min ) max L* M4x9 (4x) 22 3) ) 5 F* 1 F* 2 F* 2 F* 1 B min. 100/max. 1201) Stroke ±0.01 View X Gripping jaw M5x12 ø6h6 M4x ±0.05 5H M4x7 M4x Air supply M * See gripping force diagram 1) Dimension of jaws closed (min.) and open (max.) 2) Position of proximity switch when jaws fully closed 3) Position of proximity switch when jaws fully open Ref. No. GPP-3-ISO 45094

20 96 PRECISION PARALLEL MINI GRIPPERS GPPM PRODUCT DESCRIPTION The Precision Mini Gripper GPPM was developed for handling small parts in confined installation conditions. The GPPM is dualacting; it can be used for internal or external spans. At the heart of the Precision Mini Gripper is a precise ball guide (patented) which ensures advanced operational safety, longevity, high precision and a high degree of mechanical efficiency. Compressed air can be supplied from above (size 1) or across the guide direction (size 2). As an option, the end positions at size 2 can be queried with proximity switches which are attached to the housing by means of an attachment set. SCOPE OF DELIVERY GPPMI-1: without clamping device for proximity switches. GPPM-2Y: with clamping device for proximity switches and two plug-type connections. SUITABLE ACCESSORIES Special accessories page 109 Accessories from page 303 Quick-Set from page 1

21 97 DEFINITION AND CALCULATION My Mx Lx Lx Fy Fy M 0x = (F 0z L y + F 0y (L z + 4)) M 0y = (F s (L z + 4) + F 0z L x ) Ly Mz Fz (F S ) (F S ) Fz Lz M 0z = (F s L y + F 0y L x ) Combined loading B 0 = M 0x + M 0y + M 0z <_ 1 K 1 K 2 K 3 K 1 K 2 K 3 F 0y max [N] F 0z max [N] GPPM-1 GPPMI GPPM-2Y F s : F 0y, F 0z : F 0y max, F 0z max : L x, L y, L z : M 0x, M 0y, M 0z : K 1, K 2, K 3 : B 0 : Gripping force [N] (as gripping force diagram) Forces acting [N] Max. permissible static forces per jaw [N] Distances of force application [mm] Static load moments [Nm] Load limit constants Load factor: must not exceed the value 1!

22 98 PRECISION PARALLEL MINI GRIPPERS GPPMI-1 GPPM-2Y Gripping distance = stroke [mm] 4 6 Piston diameter [mm] Gripping force [N] see gripping force diagrams Opening/Closing time 1) [s] Weight [kg] Mass moment of inertia Jz [kgcm 2 ] Operating pressure [bar] Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.02 ± Check on end position open/closed inductive proximity switches Pneumatic connection Ø 1 mm M3 with plug-type connection for hose Ø 3 mm Thread for mounting positioners 4 x M2 4 x M2.5 Noise level [dba] < 62 Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, bronze 1) Measured at max. stroke and a pressure of 5 bar 2) Scatter of the gripper end position after 100 successive strokes under constant conditions GRIPPING FORCE DIAGRAM GPPM GPPMI-1 GPPM-2Y F S (N) p = 6 bar p = 5 bar p = 4 bar p = 3 bar LZ F S (N) p = 6 bar p = 5 bar p = 4 bar 14 p = 3 bar L Z (mm) L Z (mm) Gripping force per gripper finger = f (LZ, p)

23 103 European projection GPPMI-1 Ø2H7x3 deep Hole Hole View A Gripping jaw Air supply M2.5x3 deep Ø2H8x2.5 deep M2.5x3.5 deep M2x2.5 deep Ref. No. GPPMI

24 108 European projection GPPM-2Y 9 9 Clamping device for proximity switches Ø A Ø2H7x4 deep 15 ± ± ± Hole 7 Hole 11 ±0.05 M3x3 deep View A Gripping jaw Distance plate Activation plate Air supply with plug 3 dia. 6.2 ± ± ± Ø2.5H8x3 deep M3x4 deep ±0.05 ±0.1 Ref. No. GPPM-2Y 50415

25 109 SPECIAL ACCESSORIES FOR GPPM ADAPTERS for installation with Quick-Set size 20 for GPPM-2Y ACCESSORIES INDUCTIVE PROXIMITY SWITCH Ø 3 mm PNP, short-circuit and reverse polarity protected, sensing distance 0.6 mm, flush-mountable, with LED L = 2000 mm Ø3 Ø L PNEUMATICS CONNECTIONS 1 Threaded outgoing air-throttle M3, with angled swivel connection, pluggable, Ø 3 mm Angled screw connector M3, pluggable, Ø 3 mm Screw-connector M3, straight, pluggable, Ø 3 mm

26 112 UNIVERSAL PARALLEL GRIPPERS GPU/GPUI PRODUCT DESCRIPTION The Universal Parallel Gripper GPU/GPUI possess an extremely robust, low-friction guide system for the jaws, in which the main forces are transferred by cylindrical rollers. The efficiency is very high. The grippers are extremely compact and the pneumatic connections plus the proximity switches are arranged on the narrow side. As a result, several grippers can be mounted side by side in a very small space. The high repeatability, combined with the high gripping force per gripper weight, can also convince demanding users. A safety orifice protects the gripper against overloading by unduly high mass force of the gripping fingers. SCOPE OF DELIVERY With clamping device for proximity switches and a plug-type connection. I versions without exhaust throttles. SUITABLE ACCESSORIES Accessories from page 303 Quick-Set from page 1

27 113 DEFINITION OF LOAD Mox Moy Fs Lz Foy Fs Fs Lx Lx Foz Foy Fs Ly Foz Moz GPU/GPUI-10 GPU/GPUI-14 GPU/GPUI-20 GPU/GPUI-25 perm. [N] see gripping force diagram Foy perm. [N] Foz perm. [N] Lx perm. [mm] Ly perm. [mm] Lz perm. [mm] (Lx + Ly) perm. [mm] (Ly + Lz) perm. [mm] (Lz + Lx) perm. [mm] Mox perm. = (Foy. Lz) + (Foz. Ly) [Nmm] Moy perm. = (. Lz) + (Foz. Lx) [Nmm] Moz perm. = (. Ly) + (Foy. Lx) [Nmm] : Gripping force per gripper finger [N] Foy, Foz: Static forces [N] Lx, Ly, Lz: Distances of force application [mm] Mox, Moy, Moz: Static load moments [Nmm] When Mox, Moy, Moz act simultaneously, each may attain its permitted maximum.

28 114 UNIVERSAL PARALLEL GRIPPERS GPU-10/GPUI-10 Gripping distance = stroke [mm] 5 Piston diameter [mm] 10 Opening time at 5 bar 1) [s] Closing time at 5 bar 1) [s] 0.02 Weight GPU/GPUI [kg] 0.15 Mass moment of inertia Jz [kgcm 2 ] 0.23 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 4 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 2) [mm] ± 0.02 Check on end position open/closed 3) inductive proximity switches Pneumatic connection pluggable hose-ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) Measured at max. stroke (open when depressurized) Comment: for closed when depressurized interchange times 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM GPU-10/GPUI-10 20N 6 bar 5 bar 4 bar 15N 10N 5N = Gripping force per gripper finger mm F S = f(l z) F S = f(l z + L y) Gripping force diagram: equivalent «gripping force closed against spring» (open when depressurized).

29 115 European projection 46 2) 2) (13.5) ± 40 Ø 3.2 (13.5) 15 GPU ) 1) Lz max. 27 min. Stroke Ø 3.5 5f7 Fs Fs Holes ± (3.5) (10) 20 ± 0.1 Thread M3x7 Thread ± Ø 3 H8x5 mm ± holes 46 Ø40 31 ±0.1 Ø GPUI ) 1) 59 Lz max. 27 min. Stroke 5 Fs Fs 2) 2) Ø 3.5 5f7 1) Inductive proximity switches Ø 6.5 mm installation depth 5.5 mm 2) Air supply The gripping jaws must be designed to touch the part 0.5 mm before the closing stroke ends. Ref. No. GPU GPUI

30 116 UNIVERSAL PARALLEL GRIPPERS GPU-14/GPUI-14 Gripping distance = stroke [mm] 8 Piston diameter [mm] 14 Opening time at 5 bar 1) [s] 0.02 Closing time at 5 bar 1) [s] Weight GPU/GPUI [kg] 0.25 Mass moment of inertia Jz [kgcm 2 ] 0.63 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 2) [mm] ± 0.03 Check on end position open/closed 3) inductive proximity switches Pneumatic connection pluggable hose-ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) Measured at max. stroke (open when depressurized) Comment: for closed when depressurized interchange times 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM GPU-14/GPUI-14 6 bar 5 bar 4 bar 3 bar 30N 20N 10N = Gripping force per gripper finger mm F S = f(l z) F S = f(l z + L y) Gripping force diagram: equivalent «gripping force closed against spring» (open when depressurized).

31 117 European projection ±0.1 2) 2) (13.5) 40 Ø 3.2 (13.5) 19 GPU ) 1) Lz max. 32 min. Stroke Ø 4.5 7f7 Holes 12 ±0.01 (3.5) 30 ±0.1 Thread (5) M3x7 mm Thread 12 ±0.1 Ø 3 H8x5 mm 30 ±0.01 holes ±0.1 Ø40 Ø GPUI ) 1) Lz max. 32 min. Stroke 8 2) 2) Ø 4.5 7f7 1) Inductive proximity switches Ø 6.5 mm installation depth 5.5 mm 2) Air supply The gripping jaws must be designed to touch the part 0.5 mm before the closing stroke ends. Ref. No. GPU GPUI

32 118 UNIVERSAL PARALLEL GRIPPERS GPU-20/GPUI-20 Gripping distance = stroke [mm] 12 Piston diameter [mm] 20 Opening time at 5 bar 1) [s] Closing time at 5 bar 1) [s] 0.03 Weight GPU/GPUI [kg] 0.5 Mass moment of inertia Jz [kgcm 2 ] 2.03 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 2 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 2) [mm] ± 0.04 Check on end position open/closed 3) inductive proximity switches Pneumatic connection pluggable hose-ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) Measured at max. stroke (open when depressurized) Comment: for closed when depressurized interchange times 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM GPU-20/GPUI-20 70N 6 bar 5 bar 4 bar 3 bar 2 bar 60N 50N 40N 30N 20N 10N = Gripping force per gripper finger mm F S = f(l z) F S = f(l z + L y) Gripping force diagram: equivalent «gripping force closed against spring» (open when depressurized).

33 119 European projection (13.5) ± Ø 4.2 2) 2) (13.5) 28 GPU ) 1) 84 Lz max. 38 min. Stroke Ø f7 Holes 20 ±0.01 (4) (5) 30 ±0.1 Thread M4x8 mm Thread 20 ±0.1 Ø4 H8x6 mm holes 30 ± ±0.1 Ø40 Ø GPUI ) 1) Lz max. 38 min. Stroke Ø f7 1) Inductive proximity switches Ø 6.5 mm installation depth 5.5 mm 2) Air supply 2) 2) The gripping jaws must be designed to touch the part 0.5 mm before the closing stroke ends. Ref. No. GPU GPUI

34 120 UNIVERSAL PARALLEL GRIPPERS GPU-25/GPUI-25 Gripping distance = stroke [mm] 20 Piston diameter [mm] 25 Opening time at 5 bar 1) [s] 0.05 Closing time at 5 bar 1) [s] Weight GPU/GPUI [kg] 0.9 Mass moment of inertia Jz [kgcm 2 ] 5.56 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 2 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 2) [mm] ± 0.05 Check on end position open/closed 3) inductive proximity switches Pneumatic connection pluggable hose-ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) Measured at max. stroke (open when depressurized) Comment: for closed when depressurized interchange times 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM GPU-25/GPUI-25 6 bar 5 bar 4 bar 3 bar 2 bar 120N 100N 80N 60N 40N 20N = Gripping force per gripper finger mm F S = f(l z) F S = f(l z + L y) Gripping force diagram: equivalent «gripping force closed against spring» (open when depressurized).

35 121 European projection 80 2) 66 ±0.1 2) (13.5) (13.5) 40 Ø GPU ) 1) Lz max. 40 min. Stroke Ø f7 Holes 24 ±0.01 (4) (5) 30 ±0.1 Thread M4x8 mm Thread 24 ±0.1 Ø 4 H8x6 mm 30 ±0.01 holes Ø ±0.1 Ø40 32 GPUI ) 1) Lz max. 40 min. Stroke Ø f7 1) Inductive proximity switches Ø 6.5 mm installation depth 5.5 mm 2) Air supply 2) 2) The gripping jaws must be designed to touch the part 0.5 mm before the closing stroke ends. Ref. No. GPU GPUI

36 122 LONG-STROKE GRIPPERS GPL PRODUCT DESCRIPTION The Long-Stroke Grippers GPL are designed for gripping identical parts or parts with very different dimensions. Wide jaw travel is also ideal for contour gripping. They have an extremely robust, low-friction jaw guide in which the main forces are carried by cylindrical rollers. The pneumatic connections and proximity switches are arranged on the narrow side of the housing.

37 123 APPLICATIONS Use with proximity switches; thanks to the large stroke, interlocking gripping is possible. This enables even complicated geometries to be held.

38 124 LONG-STROKE GRIPPERS PARALLEL DOUBLE-ACTING GPL Two sizes in three or two strokes. SCOPE OF DELIVERY With clamping device for proximity switches and two exhaust throttles. SUITABLE ACCESSORIES Accessories from page 303 Quick-Set from page 1

39 125 DEFINITION OF LOAD Moy Mox Lx Lx Foy Fs Foy (F s) (F s) Foz Lz Ly Fs Foz Moz GPL GPL perm. [N] see gripping force diagram Foy perm. [N] Foz perm. [N] Lx perm. [mm] Ly perm. [mm] Lz perm. [mm] (Lx + Ly) perm. [mm] (Ly + Lz) perm. [mm] (Lz + Lx) perm. [mm] Mox perm. = (Foy. Lz) + (Foz. Ly) [Nmm] Moy perm. = (. Lz) + (Foz. Lx) [Nmm] Moz perm. = (. Ly) + (Foy. Lx) [Nmm] : Gripping force per gripper finger [N] Foy, Foz: Static forces [N] Lx, Ly, Lz: Distances of force application [mm] Mox, Moy, Moz: Static load moments [Nmm] When Mox, Moy, Moz act simultaneously, each may attain its permitted maximum.

40 126 LONG-STROKE GRIPPERS PARALLEL DOUBLE-ACTING GPL SIZE 1 GPL ) Measured at max. travel 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GPL-40-1 Gripping distance = stroke [mm] Opening time at 3/6 bar 1) [s] 0.18/ /0.12 Closing time at 3/6 bar 1) [s] 0.18/ /0.12 Weight GPL [kg] Mass moment of inertia Jz [kgcm 2 ] Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.03 Pneumatic connection M5, with plug Ø 4 mm Speed regulation adjustable exhaust throttles Check on end position open/closed 3) inductive proximity switches Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, plastic GRIPPING FORCE DIAGRAM F S = Gripping force per gripper finger

41 R 127 European projection 40 A 17 B 4 CH-4552 DERENDINGEN GEWERBESTRASSE ± ±0.1 max. D Stroke H LZ 1) M3 8f6 2.5 LY ± LZ (E) ± ±0.02 3H8 24 (8) 3 H8 8 deep M4 5.5 deep 40 ±0.2 1) Inductive proximity switches Ø 6.5 mm, installation depth 5.5 mm H A B D E GPL GPL Ref. No. GPL GPL

42 128 LONG-STROKE GRIPPERS PARALLEL DOUBLE-ACTING GPL SIZE 2 GPL-45-2 GPL-60-2 GPL-75-2 Gripping distance = stroke [mm] Opening time at 3/6 bar 1) [s] 0.44/ / /0.36 Closing time at 3/6 bar 1) [s] 0.44/ / /0.36 Weight GPL [kg] Mass moment of inertia Jz [kgcm 2 ] Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability 2) [mm] ± 0.04 Pneumatic connection M5, with plug Ø 4 mm Speed regulation adjustable exhaust throttles Check on end position open/closed 3) inductive proximity switches Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance none needed Mounting position any Material aluminum, steel, plastic 1) Measured at max. travel 2) Scatter of the gripper end position after 100 successive strokes under constant conditions 3) See accessories page 303 GRIPPING FORCE DIAGRAM F S = Gripping force per gripper finger

43 R 129 European projection A B CH-4552 DERENDINGEN GEWERBESTRASSE ± ±0.1 max. D LZ 1) M4 10f6 3 LY ± LZ (E) ± ±0.02 (8) 4H Stroke H 4 H8 5.5 deep M5 6 deep 40 ±0.2 1) Inductive proximity switches Ø 6.5 mm, installation depth 5.5 mm H A B D E GPL GPL GPL Ref. No. GPL GPL GPL

44 130 SPECIAL ACCESSORIES FOR GPL ROTARY POSITION ENCODER ADD-ON KIT for attachement of the incremental rotary position encoders (506686, ) of the gripper case GPL to GPL-1 (size 1) to GPL-2 (size 2) 49005

45 131

46 132 UNIVERSAL ANGULAR GRIPPERS GWU/GWUI PRODUCT DESCRIPTION The Universal Angular Grippers GWU-20/GWUI-20 are designed for external gripping. The pneumatic cylinder is double-acting. The special shape of the jaw actuating bracket generates high gripping forces without self-locking when the gripper is in the closed position. The inductive proximity switches needed to scan the end positions and the compressed-air supply are arranged on the two narrow sides. This enables several grippers to be mounted side by side without limiting the accessibility to the proximity switches or compressed air supply. With jaws that open 180, the GW gripper may reduce the number of movements required to grip a part. The maximum opening angle saves a handling movement in many cases. SCOPE OF DELIVERY With clamping device for proximity switches two exhaust throttles. I versions without exhaust throttles. SUITABLE ACCESSORIES Accessories from page 303 Quick-Set from page 1

47 133 DEFINITION OF LOAD Moy Mox Moy Foy Moz Moz Lz Lx Lx Foz Ly Lx Lx Foz Foy : Gripping force per gripper finger [N] Foy, Foz: Static forces [N] Lx, Ly, Lz: Distances of force application [mm] Mox, Moy, Moz: Static load moments [Nmm] When Mox, Moy, Moz act simultaneously, each may attain its permitted maximum. If the action of Foz on the gripper jaw is displaced by Lx the closing force is affected as follows: eff = ± Foz L x Lz GWU/GWUI-16 [N] see gripping force diagram GWU/GWUI-20 Foz [N] ±250 ±400 Mox perm. = (Foy. Lz) + (Foz. Ly) [Nmm] Moy perm. = (Foz. Lx) [Nmm] Moz perm. = (. Ly) + (Foy. Lx) [Nmm] DIMENSIONS OF FINGER MOUNTING a S Lz S: Center of gravity of gripping finger a: Distance between fulcrum and center of gravity Lz: Distance between fulcrum and clamping point : Clamping force per gripping finger Gripping finger mounting on the inside of the gripper jaw Gripping finger mounting on the outside of the gripper jaw

48 134 UNIVERSAL ANGULAR GRIPPERS GWU-16/GWUI-16 Opening angle infinitely adjustable [ ] Piston diameter [mm] 16 Weight GWU/GWUI [kg] 0.27 Mass moment of inertia Jz (closed) [kgcm 2 ] 0.56 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 1) [mm] ±0.05 Check on end position open/closed 2) inductive proximity switch Pneumatic connection adjustable exhaust throttles M5, with plug Ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) At Lz = 33 [mm] End of jaw. Scatter of the gripper end position after 100 successive strokes under constant conditions 2) See accessories page 303 PERM. FINGER DIMENSIONS GWU-16/GWUI-16 m [kg] n 2 u Permissible dimensions of the individual finger m adm. [kg] n=6 n=5 n=4 n=3 u u u u GRIPPING FORCE DIAGRAM GWU-16/GWUI-16 = Gripping force per gripper finger Fs Gripping force [N] with parallel jaw Lz in [mm] Lz=30 Lz=40 Lz=50 Lz=60 Lz=70 Lz=80 Lz=90 Lz=100 Lz=110 Lz= Distance a [mm] Operating pressure [bar] CLOSING AND OPENING TIME GWU-16/GWUI-16 nu t nu: Number of closing revolutions of the exhaust throttle t: Closing and opening time [s] (90 per jaw, p = 5 bar)

49 135 European projection ) 2) 46 (17.5) f8 Ø 4.5 Lz Hholes 10 ±0.01 (5) (4) 32 ± ±0.01 Thread M3x5 mm Thread 10 ±0.1 Ø 3 H8x5 mm holes 1) 46 Ø f8 Ø 4.5 Lz ) 2) 1) Inductive proximity switches Ø 6.5 mm installation depth 6.7 mm 2) Air supply Ref. No. GWU GWUI

50 136 UNIVERSAL ANGULAR GRIPPERS GWU-20/GWUI-20 Opening angle infinitely adjustable [ ] Piston diameter [mm] 20 Weight GWU/GWUI [kg] 0.43 Mass moment of inertia Jz (closed) [kgcm 2 ] 1.34 Max. cycles per minute max. 80 double stroke per minute Operating pressure [bar] 3 6 Operating medium air, oiled or unoiled, filtered to 5 µm, dew point < 6 C Repeatability at 5 bar 1) [mm] ±0.05 Check on end position open/closed 2) inductive proximity switch Pneumatic connection adjustable exhaust throttles M5, with plug Ø 4 mm Ambient: Temperature [ C] Rel. humidity < 95% (without condensation) Air purity normal workshop atmosphere Warranty 2 years from the date of delivery Maintenance after 10 mio. cycles Mounting position any Material aluminum, steel, bronze 1) At Lz = 38 [mm] End of jaw. Scatter of the gripper end position after 100 successive strokes under constant conditions 2) See accessories page 303 PERM. FINGER DIMENSIONS GWU-20/GWUI-20 m [kg] GRIPPING FORCE DIAGRAM GWU-20/GWUI n 2 u Permissible dimensions of the individual finger m adm. [kg] n=6 n=5 n=4 n=3 u u u u = Gripping force per gripper finger Gripping force [N] with parallel jaw Lz in [mm] L z=30 L z=40 L z=50 L z=60 L z=70 L z=80 z=90 z=100 z=110 L z= Distance a [mm] Operating pressure [bar] CLOSING AND OPENING TIME GWU-20/GWUI-20 nu t nu: Number of closing revolutions of the exhaust throttle t: Closing and opening time [s] (90 per jaw, p = 5 bar)

51 137 European projection ) (17.5) 25 GWU ) f8 Ø 4.5 Lz Holes 16 ±0.01 (4.5) (5) 30 ± ±0.01 Thread M4x7 mm Thread 16 ±0.1 Ø 4 H8x6 mm holes 56 Ø40 25 GWUI-20 1) f8 Ø 4.5 Lz ) 2) 1) Inductive proximity switches Ø 6.5 mm installation depth 8.7 mm 2) Air supply Ref. No. GWU GWUI

52 more than technology MONTECH AG Gewerbestrasse 12, CH-4552 Derendingen Fon , Fax