2-Finger Parallel Gripper PGN-plus 40 - 380

Transcription

Translation of the original manual
2-Finger Parallel Gripper
PGN-plus 40 - 380
Assembly and Operating Manual
Superior Clamping and Gripping
Imprint
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely
supplied to our customers and operators of our products and forms part of the product.
This documentation may not be duplicated or made accessible to third parties, in particular competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389296
Edition: 03.05 |15/01/2014|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. +49-7133-103-0
Fax +49-7133-103-2399
[email protected]
www.schunk.com
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Table of contents
Table of contents
1
About this manual .................................................................................................... 5
1.1 Warnings ................................................................................................................... 5
1.1.1 Key words ...................................................................................................... 5
1.1.2 Symbols ......................................................................................................... 5
1.2 Variants ..................................................................................................................... 6
1.3 Applicable documents ............................................................................................. 6
2
Basic safety notes .................................................................................................... 7
2.1 Intended use ............................................................................................................. 7
2.2 Not intended use ...................................................................................................... 7
2.3 Environmental and operating conditions................................................................. 7
2.4 Product safety........................................................................................................... 8
2.4.1 Protective equipment ................................................................................... 8
2.4.2 Demands on the top jaws ............................................................................. 8
2.4.3 Constructional changes, attachments, or modifications .............................. 8
2.5 Personnel qualification ............................................................................................. 9
2.6 Using personal protective equipment...................................................................... 9
2.7 Notes on particular risks........................................................................................... 9
2.7.1 Variant gripping force maintenance .......................................................... 10
3
Warranty ................................................................................................................. 11
4
Scope of delivery ..................................................................................................... 11
5
Accessories .............................................................................................................. 12
5.1 Sensors.................................................................................................................... 12
6
Technical data ......................................................................................................... 13
7
Assembly ................................................................................................................. 14
7.1 Mechanical connection .......................................................................................... 14
7.2 Air connection ....................................................................................................... 15
7.3 Sensors.................................................................................................................... 17
7.3.1 Magnetic switch MMS 22 / RMS 22 ............................................................ 17
7.3.2 Programmable magnetic switch (MMS-P) .................................................. 20
7.3.3 FPS flexible position sensor......................................................................... 25
7.3.4 Inductive proximity switch IN 80 ................................................................ 27
8
Troubleshooting ...................................................................................................... 30
8.1 Module does not move? ........................................................................................ 30
8.2 The module does not travel through the entire stroke? ....................................... 31
8.3 Module opens or closes abruptly? ......................................................................... 31
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Table of contents
8.4 The gripping force drops? ...................................................................................... 31
8.5 Module does not achieve the opening and closing times? ................................... 32
9
Maintenance and Care ............................................................................................ 33
9.1 Notes....................................................................................................................... 33
9.2 Maintenance and lubrication intervals .................................................................. 34
9.3 Lubricants/Lubrication points (basic lubrication) ................................................. 34
9.4 Disassembly of the module .................................................................................... 35
9.4.1 Variant without maintenance of gripping force ......................................... 35
9.4.2 Variant with maintenance of gripping force (O.D. gripping) ...................... 36
9.4.3 Variant with maintenance of gripping force (I.D. gripping)........................ 37
9.4.4 Variant with dust cover ............................................................................... 38
9.4.5 Version with power booster cylinder (KVZ) without gripping force........... 38
9.5 Servicing and assembling the module .................................................................... 39
9.5.1 Variant without maintenance of gripping force ......................................... 39
9.5.2 Variant with maintenance of gripping force (O.D. gripping) ...................... 40
9.5.3 Variant with maintenance of gripping force (I.D. gripping)........................ 42
9.5.4 Variant with dust cover ............................................................................... 42
9.5.5 Version with power booster cylinder (KVZ) without gripping force........... 42
9.5.6 Screw tightening torques ............................................................................ 42
9.6 Assembly device cylinder piston with gripping force maintenance ...................... 43
9.6.1 Sizes 40-100................................................................................................. 43
9.6.2 Sizes 125 - 380 ............................................................................................. 44
10 Assembly drawings .................................................................................................. 46
10.1 Standard ................................................................................................................. 47
10.2 Dust cover ............................................................................................................... 48
10.3 Version with power booster cylinder .................................................................... 49
11 Seal kit .................................................................................................................... 50
12 Accessories kit ......................................................................................................... 51
13 Translation of original declaration of incorporation ................................................. 52
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About this manual
1 About this manual
This instruction is an integral part of the product and contains important information for a safe and proper assembly, commissioning, operation, maintenance and helps for an easier trouble shooting.
Before using the product, read and note the instruction, especially
the chapter "Basic safety notes".
1.1 Warnings
The following signal words and symbols are used to highlight dangers.
1.1.1 Key words
DANGER
Dangers for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING
Non-compliance may cause irreversible injury or death.
CAUTION
Non-observance may cause minor injuries.
NOTICE
Information about avoiding material damage
1.1.2 Symbols
Warning about a danger point
Warning about hot surfaces
Warning about dangerous electrical voltage
Warning about hand injuries
General mandatory sign to prevent material damage
Warning about danger when operating in explosion risk areas
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About this manual
1.2 Variants
This operating manual applies for the following variations
• PGN-plus
• PGN-plus with gripping force maintenance device
"O.D. gripping"
• PGN-plus with gripping force maintenance device
"I.D. gripping"
• PGN-plus Dust protection version (SD)
• PGN-plus High-temperature version [HT]
• PGN-plus Force intensified version (KVZ)
• PGN-plus ATEX-Version (EX)
1.3 Applicable documents
• General terms of business
• SCHUNK catalog Gripping modules
• Assembly and Operating Manuals of the accessories
• Calculation program for gripping modules (SSG)
• Supplementary sheet "Installation and operating instructions EX"
The documents listed here, can be downloaded on our homepage
www.schunk.com
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Basic safety notes
2 Basic safety notes
2.1 Intended use
The product was designed to grip and to temporarily and securely
hold workpieces and objects.
The product is intended for installation in a machine/system. The
requirements of the applicable guidelines must be observed and
complied with.
The product may be used only in the context of its defined application parameters ( 6, Page 13).
SCHUNK assumes that application in question was tested with the
calculation program for gripping modules (SSG).
The product is designed for industrial use.
To use this unit as intended, it is also essential to observe the
technical data and installation and operation notes in this manual
and to comply with the maintenance intervals.
2.2 Not intended use
Use which is not specified as an intended use is for instance when
the product is for example used as a pressing tool, stamping tool,
lifting tool, guide for tools, cutting tool, tensioning mean, boring
tool.
2.3 Environmental and operating conditions
• Make sure that the product and the top jaws are a sufficient
size for the application.
• Make sure that the product has a sufficient size for the application.
• Observe Maintenance and lubrication intervals ( 9.2, Page 34).
• Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated environments.
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7
Basic safety notes
2.4 Product safety
Dangers arise from the product, if:
• the product is not used in accordance with its intended purpose.
• the product is not installed or maintained properly.
• the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the product.
Wear protective equipment.
NOTE
More information are contained in the relevant chapters.
2.4.1 Protective equipment
Provide protective equipment per EC Machinery Directive.
2.4.2 Demands on the top jaws
Arrange the top jaws such that when the product is depressurized
it can reach one of the end positions either open or closed and
therefore no residual energy can be released when changing the
top jaws.
2.4.3 Constructional changes, attachments, or modifications
Additional drill holes, threads, or attachments that are not offered
as accessories by SCHUNK may be attached only with permission
of SCHUNK.
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Basic safety notes
2.5 Personnel qualification
The assembly, initial commissioning, maintenance, and repair of
the product may be performed only by trained specialist personnel. Every person called upon by the operator to work on the
product must have read and understood the complete assembly
and operating manual, especially the chapter "Basic safety notes"
( 2, Page 7). This applies particularly to personnel only used occasionally, such as maintenance personnel.
2.6 Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE) required!
• Use protective gloves, safety shoes and safety goggles.
• Observe safe distances.
• Minimal safety requirements for the use of equipment.
2.7 Notes on particular risks
Generally valid:
• Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
• Make sure that no residual energy remains in the system.
• Do not move parts by hand when the energy supply is connected.
• Do not reach into the open mechanism or the movement area
of the unit.
• Perform maintenance, modifications, and additions outside the
danger zone.
• Secure the product during all operations against uncontrolled
activation.
• Take a precautionary approach by maintenance and disassembly.
• Only specially trained staff should disassemble the product.
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9
Basic safety notes
WARNING
Risk of injury due to squeezing and bumping during movement
of the gripper jaws and breaking or loosening of the gripper fingers !
WARNING
Risk of injury from objects falling and being ejected
• The danger zone must be surrounded by a safety fence during
operation.
WARNING
While disassembling uncontrollable moves of parts of the gripper possible!
2.7.1 Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can, during energy supply failure, still move independently in the direction specified by the mechanical gripping force maintenance.
• Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to residual energy in the gripper because of
gripping force maintenance by springs!
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Warranty / Scope of delivery
3 Warranty
The warranty is valid for 36 months from the delivery date to the
production facility under the following conditions:
• Intended use in 1-shift operation
• Observe the mandatory maintenance and lubrication intervals
• Observe the environmental and operating conditions
Parts touching the work piece and wear parts are not part of the
warranty.
If necessary, check the application with the calculation program
for gripping modules (SSG).
4 Scope of delivery
The scope of delivery includes:
• 2-Finger Parallel Gripper PGN-plus in the ordered model.
• Accessory pack
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11
Accessories
5 Accessories
A wide range of accessories are available for this module.
For information about which accessories can be used with the appropriate product version ☞ catalog.
5.1 Sensors
DANGER
Danger of explosion in explosion risk areas!
• Follow the instructions in supplementary sheet "Installation
and operating instructions - EX" for modules in explosionresistant versions (EX)!
Overview of the compatible sensors
Designation
Type
Inductive proximity switches
IN
Magnetic switch
MMS
Reed-switch
RMS
Flexible Position Sensor
FPS
Analog Position Sensor
APS
Programmable magnetic switch
MMS-P, MMS 22PI1, MMS 22-PI2
• Exact type designation of the compatible sensors see ☞ catalog.
• If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
• For mounting the sensors, mounting kits are partly necessary.
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Technical data
6 Technical data
Pressure medium
Nominal working pressure
[bar]
Min. pressure [bar]
Without gripping force maintenance
with gripping force maintenance device
Max. pressure [bar]
Without gripping force maintenance
with gripping force maintenance device
Force intensified version (KVZ)
Compressed air, compressed
air quality according to ISO
8573-1:7 4 4
6
2.5
4
8
6.5
6
Pressure range for sealed air
0.5–1
Noise emission [dB(A)]
≤ 70
Further technical data can be found in the catalog data sheet.
The most recent version applies.
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Assembly
7 Assembly
7.1 Mechanical connection
DANGER
Check the evenness The values relate to the entire bolting surface.
of the bolting surface
Requirements for levelness of the bolting surface (Dimensions in mm)
Diameter
Permissible unevenness
< 100
< 0.02
> 100
< 0.05
Mounting The module can be mounted from the front, from the rear or on
the side.
2
3
1
3
6
4
5
Fig. 1
14
1
Module side mounting 4
Centering sleeve
2
Module rear mounting 5
Top jaws
3
Centering sleeve
Module front mounting
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6
Assembly
Mounting material
Mounting
40
50
64
80
100 125 160 200 240 300 380
Thread- Ø and max.
insertion depth when
fastening the gripper
from behind
M3 M4 M5 M5 M6 M8 M8 M10 M12 M16 M20
6
11 12 15 14 20 20 20 25 30 35
deep deep deep deep deep deep deep deep deep deep deep
Thread-Ø and max.
M2.5 M3 M4 M5 M6 M6 M10 M12 M12 M16 M20
insertion depth for fin- 6
8
10 10 13 13 17 17 21 27 39
ger fastening
deep deep deep deep deep deep deep deep deep deep deep
The centering sleeves required for gripper attachment from the
front and for finger and gripper fixing are contained in the respective accessory pack.
7.2 Air connection
NOTICE
The maximum permissible mass per jaw is exceeded:
• Attach flow control couplings to the module.
NOTICE
Observe the requirements for the air supply.
( 6, Page 13) "Technical Data"
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15
Assembly
Fig. 2 Air connection
1
Main connections (Hose connection)
(A = open, B = closed)
2
Air purge connection
3
Hose-free direct connection at the base
(a = open, b = closed)
4
Air purge connection
5
Hose-free direct connection at the side
(a = open, b = closed)
• Only open the air connections required.
• Seal air connections not required using the locking screws from
the enclosed pack.
• For hose-free direct connections use the O-rings from the enclosed pack.
• If the maximum permissible finger weight is exceeded a throttle has to be carried out imperatively. The movement has to be
without jerks and bounce.
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Assembly
7.3 Sensors
The module is prepared for a number of sensors. Other sensors
can be used with a mounting kit.
• If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
• Technical data for the sensors can be found in the data sheets
(included in the scope of delivery).
7.3.1 Magnetic switch MMS 22 / RMS 22
Fig. 3
NOTICE
Sensor can be damaged during assembly.
Do not exceed the maximum tightening torque of 10 Ncm for the
set screws.
NOTE
Ferromagnetic material changes the switching positions of the
sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
• The module must firstly be mounted on the adapter plate
• Then, the positions of the magnetic switch have to be set
The RMS sensors have a larger hysteresis than the MMS sensors.
This means that short gripper strokes may not be able to be monitored with the RMS sensors.
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17
Assembly
Positioning of the
magnetic switch
2
1
3
4
Fig. 4
Gripper open:
1 Set the gripper to the "Open" position
2 Slide the magnetic switch 1 (1) into the groove (4) until it
comes into contact with the housing.
3 Slide the magnetic switch 1 (1) slowly back until it switches.
4 By tightening the set screw (3), fix the magnetic switch 1 (1) in
this position in the groove (4).
5 Test the function by closing the gripper and then opening it
again.
Gripper closed:
1 Set the gripper to the "Closed" position.
2 Slide the magnetic switch 2 (2) into the groove (4) in the direction of the center of the gripper until it switches.
4 Test the function by opening the gripper and then closing it
again.
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Assembly
Part gripped (O.D. gripping):
1 Clamp the part to be gripped.
2 Slide the magnetic switch 2 (2) into the groove (4) in the direction of the center of the gripper until it switches.
again.
Part gripped (I.D. gripping):
2 Slide the magnetic switch 1 (1) into the groove (4) until it
comes into contact with the housing.
3 Slide the magnetic switch 1 (1) slowly back until it switches.
5 Test the function by closing the gripper and then opening it
again.
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19
Assembly
7.3.2 Programmable magnetic switch (MMS-P)
M2
.5
2.95
1
8. 9
2
1 9.5
L = 1 00
6
5
4
3
0.5
4.4
30
L = 500
36 – 40
Fig. 5 Magnetic switch (MMS-P 22)
1
Mounting screw
4
Teach-button
2
Center sensor elements
5
LED display
3
LED display
6
Rips for cable tires
Fig. 6 Connection diagram PNP-4 conductor (MMS-P 22)
Types available for order (see catalog):
• MMS-P 22-S-M8-PNP
• MMSK-P 22-S-PNP
• V2-M8-4-2XM8-3
The MMSK-P 22-S-PNP features a cable with open strands so that
it can be connected by means of terminal contacts.
The V2-M8-4-2XM8-3 distributor is used to convert the 4-pin connector plug of the MMS-P 22-S-M8-PNP sensor to two standard
M8 plugs with 3 pins each.
20
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Assembly
Mounting of the
sensor
NOTICE
Sensor can be damaged during assembly.
• Do not exceed the maximum tightening torque of 10 Ncm for
the set screws.
NOTE
Ferromagnetic material changes the switching positions of the
sensor. For example: Adapter plate made of ordinary steel.
At ferromagnetic adapter plates:
• The module must firstly be mounted on the adapter plate
• Then, the positions of the magnetic switch have to be set
7
6
Fig. 7
1
To relieve the cable, the electronics have to be fixed in place
using cable ties (7).
There are ribs (6) in place on the electronics for mounting
purposes.
Fig. 8
2
Turn in the sensor (1 - 4).
OR
Push the sensor axially into the slot until it contacts the stop
(5).
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21
Assembly
3
Fix the sensor with an Allen wrench (6).
If there is no terminal stop, then slide the magnetic switch according to dimension l2 (bottom edge of gripper up to front side of
sensor) or according to dimension l1 (bottom edge of gripper up to
double arrow on sensor) and then clamp with the mounting screw.
Dimensions I1 / I2
SizePGN-plus
l1
l2
SizePGN-plus
l1
l2
40
6.0
14.9
100 IS
44.8
53.7
40 AS
10.0
18.9
100-KVZ
45.3
54.2
40 IS
15.0
23.9
100 AS-KVZ / IS-KVZ
71.3
80.2
40-KVZ
6.0
14.9
125
14.1
23.0
40 AS-KVZ / IS-KVZ
15.0
23.9
125 AS
50.7
59.6
50
6.5
15.4
125 IS
44.0
52.9
50 AS
11.9
20.8
125-KVZ
46.6
55.5
50 IS
22.5
31.4
125 AS-KVZ / IS-KVZ
76.5
85.4
50-KVZ
21.8
30.7
160
22.5
31.4
50 AS-KVZ / IS-KVZ
37.8
46.7
160 AS
63.0
71.9
64
13.5
22.4
160 IS
62.5
71.4
64 AS
10.3
19.2
160-KVZ
60.0
68.9
64 IS
31.5
40.4
160 AS-KVZ / IS-KVZ
100.0
108.9
64-KVZ
32.5
41.4
200
28.5
37.4
64 AS-KVZ / IS-KVZ
50.5
59.4
200 AS
78.5
87.4
80
17.1
26.0
200 IS
78.5
87.4
80 AS
13.5
22.4
200-KVZ
73.5
82.4
80 IS
35.1
44.0
200 AS-KVZ / IS-KVZ
123.5
132.4
80-KVZ
39.6
48.5
240
33.5
42.4
80 AS-KVZ / IS-KVZ
57.6
66.5
240 AS
91.0
99.9
100
18.8
27.7
240 IS
90.0
98.9
100 AS
11.0
19.9
22
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Assembly
Setting up the
switching points
3
5
4
Fig. 9
1
Press the Teach button (4) for 2 seconds.
 After 2 seconds LED 1 (3) is flashing.
2
Move the gripper into position 1 (e.g. "open").
3
Press the Teach-Button (4) briefly.
 LED 1 (3) lights up and LED 2 (5) is flashing.
4 Move the gripper into position 2 (e.g. „-2mm“).
 LED 1 (3) should turn out as soon as the switching point 1 is
left.
5 Press the Teach-Button (4) briefly.
 LED 2 (5) lights up.
 The switching points are set.
Adjusting the The hysteresis to both switching points will be adjusted automatihysteresis cally corresponding to the characteristics of the magnetic field.
The user can set the switching and trigging points of each position
a little bit closer than for the automatic mode. The trigging point is
closer to the switching point. At the same time the susceptibility to
trouble and damage increases. In the mode of the lowest hysteresis, an error signal (such as jitter or untimely switch off) can be
avoided, if the sensor is protected against all types of disturbances
(i.e. by shielding). Frequent types of disturbances are change in
temperature and electro-magnetic influences.
Within the closest fine-teach mode, SCHUNK cannot guarantee
EMC-compatibility any more.
The hysteresis adjustment is used for the manual adjustment of
the switching points (if necessary).
In case that the hysteresis automatically determined by the sensor
should be too high or too low after “the adjustment of the switching points”, you may correct the value as follows.
The sensor avoids a too small hysteresis during hysteresis adjustment.
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23
Assembly
The smallest detectable difference in stroke is defined in the following table:
The smallest detectable difference in stroke based on the nominal stroke
For Grippers with X mm
nominal stroke per jaw
Min. query range per jaw /
min. queried stroke difference per
jaw
X ≤ 5mm
30% of the nominal stroke per jaw
X = 5 to 10mm
X ≥ 10mm
3
4
5
Fig. 10
1 Press the Teach-Button (4) for 5 seconds.
 LED 1 (3) will flash up after 2 or 5 seconds
 LED 1 will stop after 5 seconds.
2 Release the Teach-Button.
3 Put the gripper to position „switch-off point of switching point
1”.
4 Press the Teach-Button (4) briefly. LED 1 (3) will light up twice.
5 Put the gripper to position „switch-off point of switching point
2”.
6 Press the Teach-Button (4) briefly.
 LED 2 (5) will light up twice.
 The Mounting of the sensor MMS-P is completed.
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Assembly
7.3.3 FPS flexible position sensor
Fig. 11
To use the flexible position sensor FPS-M8, the grippers have to be
retrofitted with a special mounting kit. This mounting kit is available from SCHUNK for the models below (see catalog):
• PGN-plus 64/1
• PGN-plus 80/1, PGN-plus 80/2
• PGN-plus 300/2
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25
Assembly
Monting of the
attachment kit
Fig. 12
In the version with dust cover( 10.2, Page 48) remove the sealing bolts (85) first, in order that the proximity switch can be
mounted. The set-screws (81) must be unscrewed completely before the operating cams can be adjusted.
1 Remove the operating cam for monitoring along with the inductive proximity switch (15) and the two screws (42/43) from
the base jaw (2/7).
FPS -M8
17
26
18
21 23
1
2 7
38
Fig. 13
2 Push the switching cam of the mouting kit (21/23) with the
chamfered side first into the base jaw (2/7) and fasten it by
tightening the screw (38) from the mounting kit.
3 First push the spacer (26) and then the flexible position sensor
FPS-M8 through the bracket (17) into the hole provided in the
housing (1) to the stop and secure the sensor in this position
by tightening the screw (18).
 For adjustment of the FPS sensor, see the separate operating
manual.
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Assembly
7.3.4 Inductive proximity switch IN 80
Fig. 14 Connection example for IN 80
1
brown
2
black
3
blue
The inductive proximity switches used are equipped with reverse
polarity protection and are short-circuit-proof.
Make sure that you handle the proximity switches properly:
• Do not pull on the cable.
• Do not allow the sensor to dangle from the cable.
• Do not overtighten the mounting screw or mounting clip.
• Please adhere to a permitted bend radius of the cable. (☞ catalog)
• Avoid contact of the proximity switches with hard objects and
with chemicals, in particular nitric acid, chromic acid and sulphuric acid.
The inductive proximity switches are electronic components,
which can react sensitively to high-frequency interference or electromagnetic fields.
• Check to make sure that the cable is fastened and installed correctly. Provide for sufficient clearance to sources of highfrequency interference and their supply cables.
• Parallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the permissible
load current.
• Note that the leakage current of the individual sensors (ca. 2
mA) is cumulative.
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27
Assembly
NOTICE
Blockade of the gripper after setting or replacing of the switching cam!
The switching cam can be tilt in the guide, if it was not fixed exactly in the base jaw.
• Apply the switching cam in the direction of the base jaw, so
that the cam does not contact the housing of the gripper.
Version with In the version with dust cover ( 10.2, Page 48)remove the sealdust cover ing bolts (85) first, in order that the proximity switch can be
mounted.The set-screws (49) must be unscrewed completely before the operating cams can be adjusted.
Mounting of the The switching points of the “open” and “closed” position were set
proximity switch at the factory by SCHUNK.
2
2
3
3
1
5
4
1
5
6
7
Fig. 15
Gripper open:
1 Push the proximity switch 1 (3) to the stop in the bracket (1)
2 Fasten the proximity switch by tightening the screw (4).
3 Set the gripper to the »Open« Position and test the function.
Gripper closed:
1 Push the proximity switch 2 (2) in the bracket (1) to the stop.
3 Set the gripper to the »Closed« position and test the function.
28
03.05|PGN-plus 40 - 380|en
Assembly
Part gripped (O.D. gripping):
1 Push the proximity switch 2 (2) to the stop in the bracket (1)
4 Untighten the screw (6). In case of versions with dust cover,
the set-screws from the lateral cover have to be removed so
that the screws (6, 7) can be adjusted.
5 Move the position of the switching cam (5) by turning the
screw (7). The switching cam (5) must be moved outward until
the proximity switch is no longer actuated.
6 Move the switching cam (5) inward again until the proximity
switch starts to switch.
7 Secure this switching point by tightening the screw (6)..
again.
9 In case of version with dust cover, please close the thread at
the lateral cover with the supplied set-screws.
Part gripped (I.D. gripping):
1 Push the proximity switch 1 (3) to the stop in the bracket (1).
4 Untighten the screw (6). In case of versions with dust cover,
the set-screws from the lateral cover have to be removed so
that the screws (6, 7) can be adjusted.
5 Move the position of the switching cam (5) by turning the
screw (7). The switching cam (5) must be moved outward until
the proximity switch is no longer actuated.
6 Move the switching cam (5) inward again until the proximity
switch starts to switch.
7 Secure this switching point by tightening the screw (6).
again.
9 In case of version with dust cover, please close the thread at
the lateral cover with the supplied set-screws.
03.05|PGN-plus 40 - 380|en
29
Troubleshooting
8 Troubleshooting
8.1 Module does not move?
Possible cause
Corrective action
Base jaws jam in housing, possible cause:
bolting surface not sufficiently level.
Check the levelness of the bolting surface.
( 7.1, Page 14)
Pressure drops below minimum.
Check the air supply.( 7.2, Page 15)
Compressed air lines switched
Check compressed air lines.
Proximity switch defective or set incorrect.
Repair the proximity switch.
Unused air connections not closed.
Close the unused air connections.
Component is broken, e.g. through overloading
Replace component or send the module
with a repair order to SCHUNK. Ensure that
the module was only used within its defined
application parameters. If necessary, check
the application with the calculation program
for gripping modules (SSG).
30
03.05|PGN-plus 40 - 380|en
Troubleshooting
8.2 The module does not travel through the entire stroke?
Possible cause
Corrective action
Dirt deposits between the cover and the
piston
Remove the cover, clean the module and
relubricate it. ( 9, Page 33)
Dirt deposits between the base jaws and the Disassemble and clean module.
guide
Check the air supply.
( 7.2, Page 15)
Mounting surface is not even enough
( 7.1, Page 14)
Component is broken, e.g. through overloading
Send the module to SCHUNK with a repair
order or disassemble module.
8.3 Module opens or closes abruptly?
Possible cause
Corrective action
Too little grease in the mechanical guiding
areas of the module
Clean the module and relubricate it.
( 9, Page 33)
Compressed air lines are blocked
Check the compressed air lines for crushing
or damage.
Mounting surface is not even enough
8.4 The gripping force drops?
Possible cause
Corrective action
Compressed air can escape
Check seals, if necessary disassemble module and replace seals.
Too much grease in the mechanical motion
spaces of the module
Clean the module and relubricate it.
( 9, Page 33)
Check the air supply.
( 7.2, Page 15)
03.05|PGN-plus 40 - 380|en
31
Troubleshooting
8.5 Module does not achieve the opening and closing times?
Possible cause
Corrective action
Compressed air lines are not installed optimally.
If present: Open the flow control couplings
on the module to the maximum that the
movement of the jaws occurs without
bouncing and hitting.
Check compressed air lines.
Inner diameter of the compressed air lines
are sufficiently large relative to the compressed air consumption
Flow rate of valve is sufficiently large relative to the compressed air consumption.
If, despite of optimal air connections, the
opening and closing times are not achieved
according to the catalog, we recommend
the use of quick exhaust valves direct at the
module.
32
03.05|PGN-plus 40 - 380|en
Maintenance and Care
9 Maintenance and Care
9.1 Notes
DANGER
WARNING
Risk of burns from hot surfaces
Depending on the application, the surface can be very hot.
Touching may cause burns to the hands:
• Wear protective gloves.
• Before working on the module, allow module to cool down.
Original spare parts
When replacing damaged parts (wearing parts/spare parts) only
use SCHUNK original spares.
Replacement of housing and base jaws
The base jaws and the guides in the housing are matched to each
other. To have these parts replaced, send the complete module
along with a repair order to SCHUNK.
Maintenance of module with gripping force maintenance "I.D.
gripping" (I.D.) and "O.D. gripping" (O.D.)
The pistons have to be aligned using an assembly device. Therefore we recommend to have the module serviced and the seals replaced by SCHUNK.
If this is not possible, you can carry out the maintenance and replace the seals yourself.
03.05|PGN-plus 40 - 380|en
33
9.2 Maintenance and lubrication intervals
NOTICE
At ambient temperature above 60°C the lubricants can
harden faster.
• Interval decrease accordingly.
Size
Interval [Mio. cycles]
40 - 160
200 - 380
10
5
9.3 Lubricants/Lubrication points (basic lubrication)
We recommend the lubricants listed.
During maintenance, treat all greased areas with lubricant. Thinly
apply lubricant with a lint-free cloth.
Lubrication point
Lubricant
Metallic sliding surfaces
microGLEIT GP 360
All seals
Renolit HLT 2
Bores on the piston
Renolit HLT 2
In addition to the described maintenance, the guides of the gripper can be re-lubricated as needed by means of lubricating nipples. The lubricating nipples can be used instead of the air purge
connection.
Remove the two set screws for the air purge connection and replace them with two conical grease nipples.
34
03.05|PGN-plus 40 - 380|en
9.4 Disassembly of the module
9.4.1 Variant without maintenance of gripping force
Position of the position numbers: ( 10, Page 46)
1 Remove the compressed air hoses.
2 Remove the cover (5).
3 Mark the installation position of the piston (3/8) and the base
jaws (2/7) in the housing (1).
4 Unscrew the screws (41) and remove the cover (4).
5 Unscrew the screws (40) and remove the cylinder piston (6)
from the housing (1).
6 Press the piston (3/8) upward out of the housing (1).
7 Pull the base jaws (2/7) out of the housing (1).
03.05|PGN-plus 40 - 380|en
35
9.4.2 Variant with maintenance of gripping force (O.D. gripping)
WARNING
Risk of injury due to spring forces!
The lid is under spring tension.
Carefully disassemble the module.
4 WARNING! Risk of injury due to spring forces! The cylinder
piston and the cover are under spring tension. Carefully disassemble the module.
5 Unscrew the screws (46).
6 Open the vise carefully and remove the cover (9).
7 Instead of positioning the cover (9) position device 1 (103)
(size 40-100) respectively position device 2 (104) (size 125380) with the centering sleeves (19) on the PGN-plus housing
(50) and then fasten both components with screws 1 (102).
Sizes 125-160 require a two-part device. Position device 2
(104) in device 1 (103) and fasten them both with screws 2
(105).
8 Unscrew the screw (45).
9 Loosen the screws (2) (size 125-380) respectively screws 1
(102) (size 40-100) evenly and carefully remove device 2 (104)
respectively device (103).
10 Press the piston (3/8) upward out of the housing (1).
36
03.05|PGN-plus 40 - 380|en
9.4.3 Variant with maintenance of gripping force (I.D. gripping)
WARNING
Risk of injury due to spring forces!
The lid is under spring tension.
Carefully disassemble the module.
4 WARNING! Danger of injury due to spring forces! The cover is
under spring tension. Carefully disassemble the module.
Clamp the module between the base jaws (2/7) and the cover
(9) in the vise such that it is still possible to remove the four
screws (46).
5 Unscrew the screws (46).
6 Carefully unclamp the vise until the spring force (25) is released.
7
Remove the cover (9) and the compression spring (25).
8 Unscrew screw (40) and remove cylinder piston (6) from the
housing (1).
9
Press the piston (3/8) upward out of the housing (1).
03.05|PGN-plus 40 - 380|en
37
9.4.4 Variant with dust cover
In variant with dust cover, the dust cover must be removed first.
( 10.2, Page 48)
1 Completely unscrew the screws (91) and remove the plain
washers (92) and centering sleeves (86). Screws (91) and the
plain washers (92) only serve the purpose of protection during
transport.
2 Pull the intermediate jaws (84) upwards and out and remove
the o-rings (87) and shims (83).
3 Slacken the countersunk screws (89) and remove the cover
plate (82).
4 Unscrew the screws (90) and detach the covers (81).
9.4.5 Version with power booster cylinder (KVZ) without gripping force
Position of the position numbers: ( 10.3, Page 49)
4 Unscrew the screws (41) and remove the cover (4).
5 Unscrew the screw (51) and remove the cylinder piston (6)
and spacer piston (66) from the intermediate housing (65).
6 Unscrew the screws (46/54) and remove the intermediate
housing (65).
7 Remove the second cylinder piston (6) from the housing (1).
8 Press the piston (3/8) upwards out of the housing (1).
38
03.05|PGN-plus 40 - 380|en
9.5 Servicing and assembling the module
Maintenance
• Clean all parts thoroughly and check for damage and wear.
• Treat all greased areas with lubricant.
( 9.3, Page 34)
• Oil or grease bare external steel parts.
• Replace all wear parts / seals.( 10, Page 46)
– Position of the wearing parts ( 10, Page 46)
– Order-No of the seal kit ( 11, Page 50)
Assembly Assembly takes place in the opposite order to disassembly. Observe the following:
• Unless otherwise specified, secure all screws and nuts with Loctite no. 243 and tighten with the appropriate tightening
torque.( 9.5.6, Page 42)
• In the case of the version with gripping force maintenance for
„O.D. gripping”, the sizes 40 – 100 have to be mounted with the
aid of an assembly device for cylinder pistons( 9.6.1, Page 43), the sizes 125 - 380 have to be mounted with two-part
assembly devices ( 9.6.2, Page 44).
9.5.1 Variant without maintenance of gripping force
Reassemble in reverse order of disassembly.
03.05|PGN-plus 40 - 380|en
39
9.5.2 Variant with maintenance of gripping force (O.D. gripping)
Sizes 40-100
Fig. 16
• Dimensions of the assembly devices: ( 9.6.1, Page 43)
• Further Item numbers. which are noch illustrated in this figure:
( 10.1, Page 47)
1 Fit the base jaws (2/7) and the piston (3/8) in the housing (1).
2 Fit the cylinder piston (10) with seals (30/33) and the compression spring (25) into the housing (1).
3 Carefully put the device (100) over the cylinder piston (10) and
attach to the housing using the screws (101).
4 Insert the screw (45) and tighten to the required torque
( 9.5.6, Page 42).
5 Remove the device (100) and continue to assemble the gripper in the reverse order to the order for disassembling ( 10,
Page 46).
40
03.05|PGN-plus 40 - 380|en
Sizes 125 - 380 with
two assembly devices
105
102
104
103
45
10
11
30
25
31
50
3
Fig. 17
• Dimensions of the assembly devices: ( 9.6.2, Page 44)
• Further Item numbers. which are not illustrated in this figure:
( 10.1, Page 47)
1 Assemble the base jaws (2/7) and piston (3/8) with sealing
(31) in the housing.
2 Insert the pressure spring (25), the distance pin (11) and the
cylinder piston (10) with the sealings (30/33) into the housing
(1).
3 Carefully put the device (101) over the cylinder piston and
mount onto the housing (1) with the screws (102).
4 Attach device 2 (104) and fasten it evenly onto device 1 (103)
with screws 2 (105).
5 Insert screw (45) into the cylinder piston and fasten them with
the required torque ( 9.5.6, Page 42).
6 Remove the devices (103/104).
7 Insert the sealings (32/34) and assemble the cover (9) with the
aid of screws (46) ( 10, Page 46).
03.05|PGN-plus 40 - 380|en
41
9.5.3 Variant with maintenance of gripping force (I.D. gripping)
Reassemble in reverse order of disassembly ( 9.4.3, Page 37).
9.5.4 Variant with dust cover
9.5.5 Version with power booster cylinder (KVZ) without gripping force
9.5.6 Screw tightening torques
Position of the position numbers( 10, Page 46)
Screw tightening torque - dimensions in Nm
Size
Item 40
Item 41
Item 45
Item 46
Item 51
PGN-plus 40
0.8
0.73
2.2
0.73
0.8
PGN-plus 50
0.8
1.3
2.2
1.3
0.8
PGN-plus 64
6
1.3
10
1.3
6
PGN-plus 80
10
3
17
3
10
PGN-plus 100
17
3
17
3
17
PGN-plus 125
24
6
41
6
24
PGN-plus 160
48
6
83
6
48
PGN-plus 200
75
6
116
25
-
PGN-plus 240
75
6
116
25
-
PGN-plus 300
120
6
150
25
-
PGN-plus 380
200
6
200
50
-
42
03.05|PGN-plus 40 - 380|en
9.6 Assembly device cylinder piston with gripping force
maintenance
9.6.1 Sizes 40-100
DH8
B
0.02
B-B
t2
0.02
Ø d2
Ø d3
EH8
l2 ± 0.02
B
Ø d1 h7
A
A
l1 ± 0.02
A
Ø 15
C
1x 45°
B
t1
t3
A-A
Fig. 18 Assembly device cylinder piston
Assembly device cylinder piston – dimensions in mm
Size
a
b
c
d
e
l1
l2
d1
d2
d3
t1
t2
t3
PGN-plus
40
38
24
20
22.5 14.5 32
18
5
3.5
6.5
14
2
4
PGN-plus
50
42
30
25
25
19
35
22
6
3.5
8
18
2.5
6
PGN-plus
64
52
36
27
31
24
42
27
8
5.5
10
23
2.5
7
PGN-plus
80
63
42
32
42
30
52
32
8
5.5
10
25
2.5
6
PGN-plus
100
81
50
38
54
36
66
38
10
6.6
11
30
3.5
7
Screw for assembly device
Item Designation
40
50
64
80
100
101 screw (DIN EN ISO 4762)
M3 x 20
M3 x 25
M5 x 30
M5 x 35
M6 x 40
03.05|PGN-plus 40 - 380|en
43
9.6.2 Sizes 125 - 380
Fig. 19 Mounting device for gripping force maintenance
Mounting device cylinder piston - dimensions in mm
Size
A
B
C
d1
d2
d3
d4
d5
d6
d7
PGN-plus 125
100
60
50
96
9
15
45
14
9
12
PGN-plus 160
125
72
50
90.5
9
18
57.5
15
9
12
PGN-plus 200
154
100
65
110
9
20
78
18
11
14
PGN-plus 240
186
115
80
125
11
22
88
20
13.5
16
PGN-plus 300
210
140
95
149
11
30
114.3 26
17.5
22
PGN-plus 380
285
170
110
180
13.5
32
129
22
28
44
03.05|PGN-plus 40 - 380|en
33
Mounting device cylinder piston - dimensions in mm
Size
d8
d9
l1
l2
l3
l4
l5
l6
l7
l8
PGN-plus 125
M8
-
60
82
80
45
9
3
67
46
PGN-plus 160
M8
58.5
72
100
74.5
56
9
3
-
-
PGN-plus 200
M8
79
100
130
95
70
11
4
-
-
PGN-plus 240
M10
89
115
160
106
80
13
4
-
-
PGN-plus 300
M10
115.3 139
180
130
96
17
6
-
-
PGN-plus 380
M12
130
250
150
116
21
8
-
-
170
Screw for assembly device cylinder piston
Item PGN-plus
125
PGN-plus
160
PGN-plus
200
PGN-plus
240
PGN-plus
300
PGN-plus
380
102
M8 x 55
M8 x 60
M10 x 80
M12 x 90
M16 x 110
M20 x 120
105
M8 x 60
M8 x 65
M8 x 80
M10 x 95
M10 x 110
M12 x 125
03.05|PGN-plus 40 - 380|en
45
Assembly drawings
10 Assembly drawings
The following figures are example images.
They serve for illustration and assignment of the spare parts.
Variations are possible depending on size and variant.
caption
*
Wearing part, replace during maintenance.
**
Included in the seal kit. Seal kit can only be ordered completely.
***
Positions are adapted to each other and may not be replaced by the customer.
****
not for PGN-plus 40 – 125
***** not for PGN-plus 40 – 80
46
03.05|PGN-plus 40 - 380|en
Assembly drawings
10.1 Standard
Fig. 20
03.05|PGN-plus 40 - 380|en
47
Assembly drawings
10.2 Dust cover
91
92
86 *
84
87 *
83
89
82
81
49
90
85
Fig. 21
*
48
Replace wearing part during maintenance
03.05|PGN-plus 40 - 380|en
Assembly drawings
10.3 Version with power booster cylinder
* 34
33 **
6
30
32 12
31
19
66
48
65
48
33 **
54 46
30
6
12 32
34 *
49
51
4
41
Fig. 22
*
**
03.05|PGN-plus 40 - 380|en
49
Seal kit
11 Seal kit
ID.-No. of the seal kit
Sealing kit for
Standard
Version
HighTemperature
Version
Version with
dust cover
Version with
power booster
cylinder
PGN-plus 40
5516793
395516793
5518709
-
PGN-plus 50
0370891
0370940
5518710
5515863
PGN-plus 64
0370892
0370908
5518711
5515864
PGN-plus 80
0370893
0370941
5518712
5515865
PGN-plus 100
0370894
0370942
5518713
5515866
PGN-plus 125
0370895
0370926
5518714
5515867
PGN-plus 160
0370896
0370922
5518715
5515868
PGN-plus 200
0370897
0370939
5518716
5520936
PGN-plus 240
0370987
0370988
5518717
-
PGN-plus 300
0370898
0370943
5518718
-
PGN-plus 380
0370989
0370990
5518719
-
Contents of the seal kit ( 10, Page 46).
50
03.05|PGN-plus 40 - 380|en
Accessories kit
12 Accessories kit
Content of the accessories pack:
• 6 x Centering sleeves for mounting
• 2 x O-ring for hose-free direct connection
• 2 x screw plug for hose connection
ID.-No. of the accessory pack
Accessory pack for
PGN-plus
High-temperature version
[HT]
PGN-plus 40
5518410
395518410
PGN-plus 50
5512043
395512043
PGN-plus 64
5512044
395512044
PGN-plus 80
5512045
395512045
PGN-plus 100
5512046
395512046
PGN-plus 125
5512047
395512047
PGN-plus 160
5512048
395512048
PGN-plus 200
5512049
395512049
PGN-plus 240
5513858
395513858
PGN-plus 300
5512050
395512050
PGN-plus 380
5515137
395515137
03.05|PGN-plus 40 - 380|en
51
13 Translation of original declaration of incorporation
in terms of the Directive 2006/42/EG, Annex II, Part 1.B of the European Parliament and of
the Council on machinery.
Manufacturer/
Distributor
SCHUNK GmbH & Co. KG Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
We hereby declare that on the date of the declaration the following incomplete machine
complied with all basic safety and health regulations found in the directive 2006/42/EC of
the European Parliament and of the Council on machinery. The declaration is rendered
invalid if modifications are made to the product.
Product designation:
2-Finger Parallel Gripper / PGN-plus 40 - 380 / pneumatic
ID number
0371080 ... 0371477, 37371080 ... 37371477, 38371080 ...
38371477, 39371080 ... 39371477
The incomplete machine may not be put into operation until conformity of the machine
into which the incomplete machine is to be installed with the provisions of the Machinery
Directive (2006/42/EC) is confirmed.
Applied harmonized standards, especially:
EN ISO
12100:2011-03
Safety of machinery - General principles for design - Risk assessment
and risk reduction
The manufacturer agrees to forward on demand the relevant technical documentation for
the partly completed machinery to state offices.
The special technical documents according to Appendix VII, Part B belonging to the incomplete machine have been compiled.
Person authorized to compile the technical documentation:
Robert Leuthner, Address: see manufacturer's address
Lauffen/Neckar, January 2014
52
03.05|PGN-plus 40 - 380|en
p.p. Ralf Winkler, Head of Gripping
Systems Development

2-Finger Parallel Gripper PGN-plus 40 - 380

Transcription

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