Handling Components OPERATING INSTRUCTIONS Grippers: GPS-1 to GPS-4 GPSI-1 to GPSI-4 GPSL-1 to GPSL-4 Edition: 506 442 06.2008
Contents Important information EU Declaration of Conformity (EC)...1 Scope of these instructions...2 Technical data...3 Gripping force diagram...4 Commissioning Position of mounting and assembly...7 Compressed air supply...10 Connecting and setting the inductive proximity switches...11 Mounting the gripper fingers...14 Maintenance...15 Spare parts lists Grippers GPS-1 to GPS-4 / GPSI-1 to GPSI-4 GPSL-1 to GPSL-4...16 Suppliers and materials used...18 General information Environmental compatibility and disposal...20
Important Information EC Declaration of Conformity (see MRL Appendix II A) Rules and standards complied with: Maschinery guidelines 89/392/EEC, 91/368/EEC Manufacturer Montech AG Tel. 032 / 681 55 00 Gewerbestrasse 12 Fax. 032 / 682 19 77 CH-4552 Derendingen Product description and use GPS, GPSI and GPSL grippers are used where workpieces have to be regulary gripped externally for the purpose of transport, as in automatic material handling. Under all circumstances attention must be paid to the performance limits, as given in the technical data. Hazards The use of GPS, GPSI and GPSL grippers in an installation is only permissible when they are guarded by MOVING, ISOLATING PROTECTIVE DEVICES as per EN 292-2, para.4.2.2.3. Failure to comply with this protective measure can result in injury due to squeezing, e.g. of fingers. Additional information The aim of the present operating instructions is to enable users to employ GPS, GPSI and GPSL grippers correctly and safely. Should further information be required relating to the particular application, do not hesitate to contact the manufacturer. When ordering operating instructions it is essential to quote the type and serial number. Additional single copies will be provided free of charge. FIG. 1 GPS-4 / 16665 Type and Serial number Montech AG Management U. D. Wagner / A. Trenner 1
Important Information Scope of the Operating Instructions Montech makes every possible effort to ensure that products conform to the present state of the art. Operating instructions are regularly updated in accordance with modifications made to the products. To avoid mistakes please ensure that the present instructions apply to the grippers that are installed. Each set of instructions has an edition number, e.g. 506 442. The label attached to the plastic cover shows the serial number of the product to which the instructions apply. Fig. 2 Edition Edizione Utgåva Edition Ausgabe Valable pour Valido per Giltig för Valid for Gültig für 506 442 ab Series 15766-16665 2
Important Information Technical Data Size 1 2 3 4 Stroke (total travel of jaws) (mm)5 8 12 20 Gripping force see force diagram Moment of inertia (kgcm 2 ) 0.10 0.31 1.13 2.73 Repeatability 1) (mm) ± 0.02 ± 0.03 ± 0.04 ± 0.05 Operating pressure (bar) 2-6 2-6 2-6 2-6 Operating medium air filtered to 5 µ m, oiled or unoiled Pneumatic union, plug-in for hoses 2.7/4 mm dia. Open/closed sensing by proximity switches Closing time at 2/6 bar 2) (ms) 12/8 20/13 40/20 50/30 Opening time (ms) 20 30 60 80 Unit weight GPS/GPSI/GPSL (kg) 0.08/0.09 0.15/0.16 0.35/0.36 0.59/0.60 Ambient: temperature ( C) +10 to 50 Rel. humidity (%) < 95 (without condensation) Purity of the air normal workshop atmosphere Warranty (years) 2 2 2 2 Noise level (dba) < 62 < 62 < 62 < 62 Ref. Nº. GPS 43345 43085 43265 43270 GPSI 43387 43388 43389 43390 GPSL 45639 45640 45641 45642 1) Scatter of gripped end positions with 100 successive strokes 2) Measured at maximum stroke Accessoires: Inductive proximity switch PNP, 6.5 mm dia. with LED, proof against short circuit and wrong polarity, with a switching clearance of 2 mm and a cable 2.5 m long, Ref.No. 504 513; cable 5 m long, Ref.No. 504 755; plug-in Ref.No. 504 609. 3
Important Information Gripping force diagrams GPS-1, GPSI-1, GPSL-1 Fig. 3 6 bar 18 16 5 bar 14 4 bar 3 bar 12 10 8 6 F 1 [N] 2 bar 4 F Q A L max = 50 mm (L * F Q ) max = 7.5 Ncm A max = 40 mm L+A 50 mm L F 1 = Gripping force / F Q = Transverse force L 2 0 10 20 30 40 50 mm L, L+A [mm] F 1 = f(l) F 1 = f(l+a) GPS-2, GPSI-2, GPSL-2 Fig. 4 6 bar 5 bar 40 30 4 bar 3 bar 20 F 1 [N] L L 2 bar 10 F Q 4 A L max = 75 mm (L * F Q ) max = 30 Ncm A max = 60 mm L+A 75 mm F 1 = Gripping force / F Q = Transverse force 0 0 10 20 30 40 50 60 70 mm L, L+A [mm] F 1 = f(l) F 1 = f(l+a) Example: Gripper vertical Operating pressure 5 bar L = 60 mm / F 1 = 31 N
Important Information Gripping force diagrams GPS-3, GPSI-3, GPSL-3 Fig. 5 6 bar 5 bar 4 bar 70 60 50 40 F 1 [N] 3 bar 30 L L 2 bar 20 10 F Q A 0 20 40 60 80 100 mm L, L+A [mm] L max = 100 mm F 1 = f(l) F 1 = f(l+a) (L * F Q ) max = 80 Ncm A max = 80 mm L+A 100 mm Example: Gripper vertical F 1 = Gripping force / F Q = Transverse force Operating pressure 5 bar L = 50 mm / A = 40 mm F 1 = 36 N GPS-4, GPSI-4, GPSL-4 Fig. 6 F Q A L max = 125 mm (L * F Q ) max = 160 Ncm A max = 100 mm L+A 125 mm L L 6 bar 5 bar 4 bar 3 bar 2 bar F 1 = Gripping force / F Q = Transverse force 120 110 100 90 80 70 60 50 40 30 20 10 0 20 40 60 80 100 120 mm L, L+A [mm] F 1 = f(l) F 1 = f(l+a) F 1 [N] 5
Important Information Example: (Gripper horizontal, GPS-4) Operating pressure 5 bar L = 70 mm A = 0 mm F 1 = 90 N If the force due to the weight (F Q ) acts during the complete opening stroke (L * F Q ) max = 160 Ncm Hence F Qmax = 160 Ncm = 22.8 N 7 cm Fig. 7 L F Q 6
Mounting position and assembly The GPS/GPSI grippers can be mounted in any position. Commissioning With the Montech "QUICK-SET" mounting components structural assemblies can be produced quickly and easily. It should be noted that when mounted horizontally the force due to the weight is F Q. Fig. 8 The force Die due Gewichtskraft to the weight corresponds entspricht to F Q F Q L Types of grippers: GPS-1/GPSI-1/GPSL-1 (L * F Q )max. = 7,5 Ncm GPS-2/GPSI-2/GPSL-2 (L * F Q )max. = 30 Ncm GPS-3/GPSI-3/GPSL-3 (L * F Q )max. = 80 Ncm GPS-4/GPSI-4/GPSL-4 (L * F Q )max. = 160 Ncm 7
Commissioning With external compressed-air supply (querverschiebbar QUICK-SET) Abb. 9 GPS 1 4 Clamping SLL-12, SLL-20, elementsll-55 SLL-12, (je nach SLL-20, Greifertyp) SLL-55 (depending on size of gripper) Typ GPSL : With external compressed-air supply (screwed, cannot be moved) M3, M3,5tief 5 deep 8H7,2tief 2 deep 2,5H7,5tief 5 deep M3, M3,5tief 5 deep 10H7,2tief 2 deep 3H7,5tief 3H7, 5 deep 20 34 14 M3, M3,5tief 5 deep 12H7,2tief 2 deep 3H7,5tief 3H7, 5 deep M3,5tief M3, 5 deep 14H7,5tief 5 deep 3H7,5tief 3H7, 5 deep 24 ±0,1 30 ±0,1 12 ±0,1 16 ±0,1 (7) ±0,1 ±0,02 (3) 6 (10) 22 14,5 42 ±0,1 ±0,02 (4) 8 Abb. 9.1 GPSL-1 GPSL-2 14,5 (4) 32 40 ±0,02 ±0,1 (4) 16 (5) 30±0,1 (thread) (Gewinde) 30 ±0,02 (drilling) (Bohrung) 40 (8) 14 8 GPSL-3 GPSL-4
Commissioning With internal supply of compressed air Fig. 10 DAPI-1 The Die angular Lage position des Greifers of the gripper auf der on Drehachse the rotary axle ist can frei be wählbar freely chosen Clamping SRR-40 element SRR 40 GPSI 1 4 9
Commissioning Compressed air supply GPS, GPSI and GPSL are single-acting pneumatic devices. The closing movement is produced by compressed air, opening by spring action. GPS and GPSL for external air supply Fig. 11 GPS Compressed Drucklufteinspeisung air input (plug (Steckanschluss connection for für hose Schlauch 2.7/4 ø mm 2,7/4 dia) mm) GPSI for internal air input Fig. 12 Compressed Drucklufteinspeisung air input GPSI 10
Commissioning Connecting and setting the proximity switches (see Fig.13,14 and 17)) The proximity switches used must have a switching distance (Sn) of 2 mm, be intended for flush mounting and have a casing 6.5 mm in diameter. Each GPS gripper has two holders (50) for proximity switches. Each of these holders has two holes to accommodate the switches. Fig. 13 D 50 A 50 C B As standard, GPS grippers are equipped for scanning the two end positions "Gripper open" (A) and "Gripper closed" (B). On this side the leads of the proximity switches (only GPSL version), can be attached to the air supply hose. If, for space reasons, the positions A and B cannot be used simul-taneously. Position C has to be used instead of A. Simultaneous use of positions A, B and D makes it possible to differentiate between two closed gripper positions, e.g. "gripper closed with product gripped" (B) and "gripper closed without product" (D). When positions C and D are used, stopper (100) must first be removed from the holder (50). (Additional clamping screws (90) and clamping piece can be obtained from the manufacturer see Illustr. 14.) 11
Commissioning Gripper open Setting procedure Open the gripper (depressurized) Release the screw 90 (A). Push the proximity switch into opening A as far as the stop. If the switch is electrically connected, the LED should now light up. Secure the proximity switch by tighten the screw 90 (A). Fig. 14 B 110 90 (B) A 110 90 110 90 (A) Gripper closed The gripper fingers must be designed so they make contact with the product before striking the end-stop of the gripper. Maximum residual stroke from contact with the product to end-stop: 12 GPS-1 = 1.0 mm GPS-2 = 1.6 mm GPS-3 = 2.0 mm GPS-4 = 2.0 mm
Commissioning Setting procedure Close the gripper (with compressed air) Release the screw 90 (B). Push the switch into opening B as far as the stop. If the switch is electrically connected, the LED should now light up, both in the position closed without workpiece and closed with workpiece. Secure the proximity switch by tighten the screw 90 (B). Gripper closed without workpiece (scanning position D, Fig.13) Setting procedure Close the gripper without gripping a workpiece. Release the screw 90 (D). Push the electrically connected proximity switch into the hole (D) until the LED lights up. Secure the proximity switch by tighten the screw 90 (D); Fig.14. Fig. 15 DC Gleichspannung (DC) NPN brown braun black schwarz Z + A blue blau OV DC Gleichspannung (DC) brown braun + PNP black schwarz blue blau Z A OV 13
Commissioning Mounting the gripper fingers Outside of the jaws Slit width Fixing screw H7 GPS-1/GPSI-1/GPSL-1 5 H7 M3 GPS-2/GPSI-2/GPSL-2 7 H7 M4 GPS-3/GPSI-3/GPSL-3 10 H7 M5 GPS-4/GPSI-4/GPSL-4 12 H7 M5 Abb. 16 Inside of the jaws Slit width Fixing screw H7 GPS-1/GPSI-1/GPSL-1 5 H7 M3 GPS-2/GPSI-2/GPSL-2 7 H7 M4 GPS-3/GPSI-3/GPSL-3 10 H7 M5 GPS-4/GPSI-4/GPSL-4 12 H7 M5 Abb. 17 14
Maintenance Maintenance The grippers GPS and GPSI require no maintenance. Notes 15
Spare parts list GPS-1 to 4 / GPSI-1 to 4 / GPSL-1 to 4 Fig. 17) 100 200 40 (GPS) 250 120 200 150 40 (GPSI) 140 30 230 70 16 200 40 (GPSL) 190 180 50
100 240 300 220 85 60 20 10 20 60 80 130 (GPSI) 130 (GPS) 55 120 50 180 190 90 110 90 17
Spare parts list Nº. Description Ref.Nº. Size 1 Size 2 10 Casing 48187 48188 20* Gripping jaws 47207 47208 30 Piston 43347 43119 40 Cover GPS 43348 43120 40 Cover GSPI 43376 43377 40 Cover GPSL 45601 45602 50 Holder for proximity switch 48191 48192 55 Support for proximity switch 48580 60* Guide roller 43350 43122 70* Roller for piston 43351 43123 80 Spacer 48155 48156 85 Ribbed washer 502363 502363 90* Clamping screw 47904 47904 100 Stopper 43791 43791 110* Clamping piece 47906 47906 120* Compression spring 505518 505203 120* Compression spring 130 Hose connection GPS, GPSL 504928 504928 130 Blind stopper GPSI 502289 502289 140* O-ring 505028 140* O-ring 500224 140* O-ring 150* O-ring 504829 150* O-ring 500224 180 Ribbed washer 502363 502363 190 Chhd screw 501604 501604 200 Chhd screw 501602 501602 220 Chhd screw 501604 501606 230* Cylindrical pin 502008 502014 240* Cylindrical pin 502022 502025 250 Cylindrical pin 506443 502021 300 Nameplate 41620 41620 310 Instruction manual 506442 506442 330 Fix-Pac 504021 504021 * The marked articles can be delivered within 24 hours. 18
Supplier Material Size 3 Size 4 48189 48190 Montech AG Aluminium 47209 47210 Montech AG hardened steel 43266 43273 Montech AG bronze 43267 43274 Montech AG Aluminium 43378 43379 Montech AG Aluminium 45603 45604 Montech AG Aluminium 48193 48194 Montech AG Aluminium Montech AG POM 43268 43275 Montech AG hardened steel 43269 43269 Montech AG hardened steel 48158 48159 Montech AG Aluminium 502363 502363 Bossard AG steel 47904 47904 Montech AG steel 43791 43791 Montech AG POM 47906 47906 Montech AG steel 505519 Gutekunst+Co steel 43794 Montech AG stainless steel 504928 504928 Legris AG brass 502289 502289 Omni Ray AG brass 505031 Kubo-Tech AG NBR Maag Technic AG NBR 506407 Johannsen AG NBR 504827 504828 Busak+Shamban SA NBR Maag Technic AG NBR 502364 502364 Bossard AG steel 501620 501620 Bossard AG steel 501602 501602 Bossard AG steel 501609 501611 Bossard AG steel 502023 502025 Bossard AG steel 502041 502043 Bossard AG steel 502021 502021 Bossard AG steel 41620 41620 Montech AG PE metallized 506442 506442 Montech AG paper 504021 504021 Bosshart Emball. AG PU/cardboard 19
General Information Environmental Compatibility Materials used: Aluminium Brass Bronze Steel Acrylnitrile butadiene-styrene (ABS) Polyoxymethylene (polyacetal) (POM) Paraffinic mineral oil, synthetic hydrocarbon oil Surface treatment Anodizing of aluminium Shaping processes Machining of Al, steel, POM Casting steel Moulding of NBR seals Foam coating with PU Emissions during operation None When the equipment is used with oiled air, it is advisable to return the exhaust air to atmosphere through an oil filter or separator. Disposal Grippers which cannot be used any more should be recycled, not as complete units, but dismantled to components and disposed of according to the type of material. The kind of material used for each part is shown in the spare parts list. Material which cannot be recycled should be appropriately disposed of. 20