PRP Pneumatic parallel gripper with rotator Compatible with the G-mix system. Selectable rotation angle. Gripper with integrated rotator: the four sensors and the four hoses do not rotate. Optional magnetic sensors. Spring closed (-NC) or spring open (-NO) option available upon request. LV251-7ABZ ZV251-DSKP LV25-KIT-8 EMF84 LV25-KIT-9 PRP186 (*) Under construction NEW NEW PRP186 (*) PRP3516 (*) Medium Operating pressure Operating temperature Filtered, lubricated / non lubricated compressed air 3 8 bar 5 6 C. Opening gripping force on each jaw at 6 bar 68 N 25 N Total opening gripping force at 6 bar 136 N 5 N Closing gripping force on each jaw at 6 bar 6 N 22 N Closing total gripping force at 6 bar N 44 N (±.3 mm) Gripper total stroke 6 mm 16 mm Air consumption per gripper cycle 3 cm 3 cm 3 Minimum gripper closing / opening timer.2 s.4 s Theoretical torque at 6 bar 85 Ncm 32 Ncm Maximum angular angle 18 18 Air consumption per rotator cycle 13 cm 3 5 cm 3 Minimum time for 18 rotation.2 s.3 s Weight 32 g 158 g 82 Grippers with rotator www.gimatic.com 3/215
Operation principle Rotation angle The grippers are supplied in a configuration suitable for 18 rotations, that is with the stroke end block (F) mounted on the disc. However, the package includes a second block (E) which enables to reduce the stroke to 9 or 45 or 135. A fine adjustment (+/-4 ) of the stroke-end positions is also possible with the adjustment screws (D). D 18 E D +4-4 135 F +4-4 45 9 F F F F 45 E 3/215 18 9 E E www.gimatic.com Grippers with rotator 83 135
Dimensions (mm) (x6) prof 7 PRP186 B1 Ø3 H7 (x4) PRP186 H2 H4 H3 3/215 B2 B4 B6 B5 D2 D1 S L3 L2 L1 (x6) prof 1 B3 (x6) H1 L4 D3 PRP186 PRP3516 B1 - B4 (x4+4) prof 1 (x4+4) B3 PRP3516 H11 PRP3516 H8 B13 B1 B B9 H7 H16 H6 (x4+4) prof 6 H13 H5 PRP186 Sensor seat Ø4 H8 (x2+2) (x4) Air connection B11 H1 H H15 H8 H9 H14 B7 B1 B8 B2 3 - B3 ±.2 31 44 B4 ±.2 18 47 B5 ±.2 3 - B6 3 - B7 36 6 B8 2.5 37.5 B9 21 4 B1 ±.2 3 47 B11 3 - B 7 16 B13 11.5 D1 Ø46 Ø9 D2 M3 P4.7 P D3 H8 Ø5 Ø8 H1 25.7 52.5 H2 ±.5 3.5 - H3 9 - H4 - H5 96 149 H6 1.2 23.5 H7.7 1 H8 ±.5 8.5 15 H9 18 - H1 - H11 ±.2-22 H 53 77.5 H13 14 2 H14 15.5 H15 22 3.5 H16 7.2 17.5 L1 51 14 L2 45 88 L3 ±.2 7.5 18 L4 ±.5 4.5 7 84 Grippers with rotator www.gimatic.com
Application example The grippers of the PRP series can be mounted on the slides of the G-mix system (ZV pneumatic or LV electric), with no interface, in the four positions shown in the figure. LV... ZV... PRP... LV25 ZV25 LV4 ZV4 PRP PRP186 PRP3516 Fastening the gripping tools The gripping fingers must be as short and light as possible. For a precise centring, use the bushes (BD) supplied with the gripper. P3 BD P2 D3 D2 PRP186 PRP3516 D3 H8 Ø5 Ø8 P3 +.1 +.2 1.3 2.6 D2 M3 P2 4.7 3/215 www.gimatic.com Grippers with rotator 85
Fastening of gripper PRP186 The gripper can be fastened to a static or moving part. When on a moving part, attention must be paid to the inertial force to which the gripper and its load are subjected. Ø3 h6 Ø3 H7 Ø3 h6 Ø3 H7 Ø3 h6 Ø3 H7 3/215 3.5 Ø3 H7 3 Ø4 H7 3 Ø4 H7 86 Grippers with rotator www.gimatic.com
Fastening of gripper PRP3516 The gripper can be fastened to a static or moving part. When on a moving part, attention must be paid to the inertial force to which the gripper and its load are subjected. 1.5 +.1 Ø7 h8 Ø5.2 1.5 +.1 1.5 +.1 Ø5.2 Ø5.2 Ø7 h8 3/215 Ø7 h8 www.gimatic.com Grippers with rotator 87
Gripping force The graphs show the force (F) produced by the gripper on each jaw, as a function of the operating pressure, of the gripping tool length (Z) and of the off-set position of the gripping point (X). Decrease the pressure if the gripper is used in the red zone. X Z The force shown in these graphs refers to one jaw. The total force is double. PRP18 1 opening closing opening (6bar) closing (6bar) 1 6 6 F [N] 8 6 4 2 8bar 36 Z [mm] 6 6bar 4bar F [N] 8 6 4 2 8bar 36 Z [mm] 6 6bar 4bar Z [N] 36 68N 31N 38N 45N 52N 6N 36 X [mm] 6 Z [N] 36 6N 27N 33N 39N 46N 53N 36 X [mm] 6 PRP35 4 opening 4 closing opening (6bar) closing (6bar) F [N] 32 16 8 72 Z [mm] 8bar 96 6bar 4bar F [N] 32 16 8 72 Z [mm] 8bar 96 6bar 4bar Z [N] 96 72 25N 1N 138N 156N 18N 21N 72 96 X [mm] Z [N] 96 72 22N 1N 8N 146N 166N 19N 76 96 X [mm] Safety loads Check the table for the maximum permitted loads. Excessive forces or torques can damage the gripper, cause operation problems and endanger the safety of the operator. F s, Mx s, My s, Mz s, are the maximum permitted loads under static conditions, that is with motionless jaws. F d, Mx d, My d, Mz d, are the maximum permitted loads under dynamic conditions, that is with running jaws. m, is the maximum permitted weight of each gripping finger, when the gripper works without speed adjustment. If the weight of the gripping fingers is over the permitted value, it is necessary to decrease the jaw speed by acting on the flow controllers (not supplied). F Mx Mz My PRP186 PRP3516 F s 4 N 4 N Mx s 2 Nm 18 Nm My s 1.5 Nm 2 Nm Mz s 2 Nm 15 Nm F d 2 N 9 N Mx d.6 Nm.5 Nm My d.6 Nm.5 Nm Mz d.6 Nm.5 Nm m 1 g 6 g 3/215 88 Grippers with rotator www.gimatic.com
Sensors The operating position is detected by magnetic proximity sensors (optional) through a magnet placed on the pistons. The use of magnetic proximity sensors is to be avoided in the vicinity of large masses of ferromagnetic material or intense magnetic fields as this may cause detection problems. The sensors that can be used are: SN4N225-G PNP 2.5m cable SN4M225-G NPN 2.5m cable SN3N23-G PNP M8 connector SN3M23-G NPN M8 connector SS4N225-G PNP 2.5m cable SS4M225-G NPN 2.5m cable SS3N23-G PNP M8 connector SS3M23-G NPN M8 connector PNP Magneto-resistive NPN They are all provided with a flat 3-wire cable and a LED. OUT OUT SS SN SN... SS... Caution Never let the unit come into contact with corrosive substances, soldering splashes or abrasive powders as they will damage the gripper. Never let non-authorised persons or objects be within the operating range of the gripper. Never operate the gripper on a machine that does not comply with the safety standards and laws of your country. 3/215 www.gimatic.com Grippers with rotator 89
www.gimatic.com 81 3/215 PRP 2 37 25 1 17 16 23 3 41 21 36 8 3 35 7 6 39 4 19 31 41 22 18 1 44 38 5 34 14 33 13 4 26 9 28 2 28 29 11 27 1 15 32 Grippers with rotator Exploded view
Part list PRP186 PRP3516 1 Jaws and fulcrum holder subunit PRP186-S PRP3516-S 1 2 Disc with cylinder PRP186-2 PRP3516-2 2 3 Upper body PRP186-3 PRP3516-3 3 4 Slotted round nut PRP186-4 PRP3516-4 4 5 Piston PRP186-5 PRP3516-5 5 6 Lower body PRP186-6 PRP3516-6 6 7 Oval piston PRP186-7 PRP3516-7 7 8 End plate PRP186-8 PRP3516-8 8 9 Stop plate PRP186-9 PRP3516-9 9 1 Stop flange PRP186-1 PRP3516-1 1 11 Upper cover plate PRP186- PRP3516-11 Piston rod PRP186-13 PRP3516-15 13 Disc with cam PRP186-14 PRP3516-16 13 14 Magnet PRP186-15 PAR-35-1B 14 15 Bush - ZBH-7 (39677) 15 16 Bumper MRE1618-13 PRP3516-13 16 17 Screw MRE1618-14 PRP3516-18 (M1x1) 17 18 Lever PAR-1-8C PAR-2-8C 18 19 Magnet R63-18-2 PAR-6-7 19 2 Ball bearing CUSC-22 (2x32x7 6184rs) CUSC-9 (17x35x8 ISB 163) 2 21 Ball bearing CUSC-4 (1x19x5 618 zz) CUSC-27 (4x52x7 ISB 6188) 21 22 Screw VITE-58 (M2.5x5 DIN 965A INOX A2) VITE-27 (x1 DIN 9 INOX A2) 22 23 Screw VITE-118 (M3x4 DIN 9 INOX A2) VITE-381 (x6 DIN 9 INOX A2) 23 Screw VITE-68 (M2x6 DIN 965A INOX A2) VITE-28 (x1 DIN 965A INOX A2) 25 Nut VITE-21 (M2.5 DIN 934 INOX A2) VITE-218 (M1x1) 25 26 Screw VITE-237 (M2x8 DIN 7991) VITE-45 (x16 DIN 965A INOX A2) 26 27 Screw VITE-238 (M2x5 DIN 7991) VITE-6 (M2.x8 DIN 965A INOX A2) 27 28 Roller pin SPINA-55 (Ø2.5x7 DIN 542) SPINA-7 (Ø3x14 DIN 6325) 28 29 Pin SPINA-78 (Ø2x2 DIN 6325) SPINA-132 (Ø4x4 DIN 6325) 29 3 Roller pin SPINA-194 (Ø4x7 DIN 542) SPINA-21 (Ø5x14 DIN 542) 3 31 Pin SPINA-22 (Ø3x DIN 6325) - 31 32 Pin SPINA-184 (Ø4x6 DIN 6325) - 32 33 Roller pin SPINA-17 (Ø2x3.8 DIN 542) SPINA-195 (Ø3x5.8 DIN 542) 33 34 O-Ring GUAR-7H (Ø1.78x14) GUAR-15H (Ø2.62x29.82 HNBR) 34 35 O-Ring GUAR-25H (Ø1.78x21.95) GUAR-225H (Ø3.53x37.69) 35 36 O-Ring GUAR-181 (Ø1.5x26) GUAR-28 (Ø1.78x44.17) 36 37 O-Ring GUAR-52H (Ø1.78x2.35 HNBR) GUAR-21H (Ø2.62x39.34 HNBR) 37 38 O-Ring GUAR-39H (Ø1.78x6.7 HNBR) GUAR-95H (Ø1.78x11.89) 38 39 O-Ring GUAR-13H (Ø1.78x8.73 HNBR) GUAR-33H (Ø2.62x11.91 HNBR) 39 4 O-Ring GUAR-85 (Ø1x8) GUAR-8 (Ø1.78x1.82) 4 41 Bush ZBH-5 (354237) LP23-62 41 42 O-Ring - GUAR-89 (Ø1x1) 42 43 Screw - VITE- (x14 DIN 9 INOX A2) 43 44 O-Ring GUAR-7H (Ø1.78x14) GUAR-9 (Ø1.78x31.47) 44 3/215 45 Pin - SPINA-9 (Ø3x8 DIN 6325) 45 www.gimatic.com Grippers with rotator 811
Pneumatic connection The unit is driven by compressed air supplied through the side air ports (Q, S, P and R) with appropriate air fittings and relevant hoses (not supplied). Compressed air in Q: clockwise rotation. Compressed air in S: anticlockwise rotation. Compressed air in P: gripper opening. Compressed air in R: gripper closing. LV25... Q P R R P S LV25-KIT-8 ZV25... S R Q P P EMF84 R S PRP186 Q LV25-KIT-9 Pneumatic circuit Possible problems on a compressed air circuit: 1- Pressure variations. 2- Pressurising the empty gripper at start-up. 3- Sudden lack of pressure. 4- Excessive drive speed. Possible solutions to the above issues: 1- External compressed air storage (A). 2- Start-up valve (B). 3- Safety valves (C). 4- Flow controllers (D). The gripper is driven by filtered compressed air (5 4 μm), not necessarily lubricated. The initial choice on air lubrication (lubricated or not) must be kept for the entire service life of the gripper. The pneumatic circuit must be pressurised progressively, to avoid uncontrolled movements. C D Q C D S C D R A B C D P 3/215 8 Grippers with rotator www.gimatic.com