Festo Параллельный захват HGPC - Handbuch (Seite 2)

Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
en Fitting and commissioning to be carried out only by
authorised qualified personnel in accordance with
the operating instructions. These products are
designed to be operated with compressed air only.
They are not suitable for use with other media
(liquids or gases).
Commissioning and operation:
Use a protective screen to ensure that:
– nobody can place his/her hand between the
gripper fingers in the positioning range of the
HGPC-...,
– there are no objects within the positioning
range of the HGPC-... (e.g. by providing a
protective screen)
When exhausting (without locking the gripping
force):
Make sure that the gripper is not holding a load. In
this way you can prevent a work load from falling
down suddenly.
Fig. 1
5
3
6
2
1
7
4
Fig. 2
1 Function and application
When the compressed air connections 5 and 7 are pres-
surized alternately, an internal piston is moved backwards
and forwards. A mechanism transfers the movement of
the piston to the gripper jaws 1, to which gripper fingers
are fastened. The opening and closing action of the
gripper fingers enables them to grasp loads by their outer
or inner contour (double-acting).
In conjunction with the integrated reset spring, the
HGPC-...-G.. can also be operated in single-acting mode
and for locking the gripping force.
The following gripper types have a reset spring: When the
gripper is exhausted, this spring returns the gripper jaws
and pistons to their initial positions:
– gripper fingers closed: at HGPC-...-G2
The parallel gripper type HGPC-... is intended for gripping
and holding work loads.
2 Safety conditions
• Compare the maximum values specified in these oper-
ating instructions with your actual application (e.g.
pressures, forces, torques, temperatures, masses,
speeds). The product can only be operated in com-
pliance with the relevant safety regulations if the
maximum loading limits are observed.
• Please ensure that there is a supply of correctly
prepared compressed air.
• Observe the regulations applicable at your location.
Comply also with national and local laws and institu-
tions.
• Remove the packaging.
It is intended that the packaging be recycled on the
basis of its constituent materials (exception: oiled
paper = other waste).
• Please observe the prevailing ambient conditions.
• Slowly pressurize the complete system. In order to do
this use start-up valve type HEL-... .
• Please observe the warnings and instructions:
– on the product and
– in these operating instructions.
• Unauthorised product modification is not permitted.
3 Mechanical installation
Fitting the gripper fingers:
• If possible, use short lightweight gripper fingers.
• Please observe the following maximum permitted
values (see the chapter “Technical specifications” for
more information):
– force F
– torques Mx, My and Mz (see Fig. 2, left).
• Avoid damaging the gripper jaws. This could lead to
impairment of function and operational reliability. The
different gripper sizes are assigned with the following
variables:
HGPC-... 12 16 20
Fitting hole dia. 2 mm 2.5
(+ 0.01 /
+ 0.04)
3
(+ 0.01 /
+ 0.04)
4
(+ 0.01 /
+ 0.04)
Through hole 1 for screws of
rated size
M3 M4 M5
Max. permitted tightening
torque
Nm 1.2 2.9 5.9
Please note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Excessive tightening torques during fitting will damage
the gripper mechanism.
• Make sure that the maximum permitted tightening
torques are not exceeded.
1.Position fitting hole 9 of the gripper fingers with
centring pins 8 on fitting hole 2 of the grippper jaw.
2.Press a centring pin 8 into the fitting hole.
3.Insert a fastening screw into the threaded hole of each
gripper finger (see table above).
8
2
1
9
If proximity sensors are used:
• Please check the following points:
– Interference caused by ferritic parts (e.g. by fastening
screws made of ferritic steel)
– Minimum distance from ferritic mounting plate:
10 mm
– Where applicable, protruding proximity switches.
• Use proximity sensors for end-position sensing in
accordance with the chapter “Accessories”
When sensing both piston end positions:
• Push the proximity switches into separate slots 4.
• Make sure there is sufficient space for the connecting
elements.
When fastening the HGPC-... in cases where there is high
acceleration in the longitudinal direction of the gripper
(e.g.: when fitted to moving parts such as linear drive
type DGP-...):
• Note that there will be a reduction in the gripping force.
• Check whether adapter plates type HAPG-... are
required.
• Position the HGPC-... as near as possible to the
compressed air supply (short tubing).
This will result in shorter pressurization times.
Fasten the HGPC-... as follows:
1.Press two centring pins aJ into the fitting holes.
2.Place the gripper with the centring sleeves on the
connecting surface.
3.Fasten with two screws aA.
aA
aJ
Please refer to the following table for the variable values:
HGPC-... 12 16 20
Outer dia. of centring sleeve aJ mm 7 [H7] 7 [H7] 9 [H7]
Nominal thread size aA M4 M5 M6
Max. permitted tightening torque Nm 2.9 5.9 10
Pneumatic fitting
Please note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
• Make sure that the connections and tubing of the
HGPC-... are free from dirt particles and other
objects.
• Check whether the following are necessary:
– Compressed air reservoir type VZS-...
This will reduce pressure fluctuations.
– Non-return valve type HGL-...
If there is a sudden drop in pressure, this will prevent
the load from suddenly falling.
• Connect the tubing of the HGPC-... to the compressed
air connections (see “Technical specifications”).
Gripper type
external gripping
Gripper type
internal gripping
Connection 7 (Fig. 1) Close Open
Connection 5 (Fig. 1) *) Open Close
*) Connection 5 is on the side with the Festo logo 3
If using long and heavy gripper fingers:
• Use a one-way flow control valve GRLZ-... or GRLA-...
directly at the compressed air connections. These de-
termine the closing time (and therefore the bearing
loading) of the gripper fingers.
If an additional external restrictor is not used, fixed re-
striction of the HGPC-... is made possible in the case of
short and light gripper fingers.
4 Commissioning
Warning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
• Make sure that:
– nobody can place his/her hand between the gripper
fingers,
– there are no objects within the positioning range of
the HGPC-... (e.g. by providing a protective screen).
Please note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
• Please observe the permitted values for:
– the maximum gripping force (depending on the
holding force, the holding point, eccentricity and
spring force; permitted values see catalogue speci-
fications),
– the max. permitted weight force of the gripper
fingers as a function of the closing time (see
“Technical specifications”). The weight force of the
gripper fingers should be calculated.
Setting the closing time for long and heavy gripper
fingers:
• Screw in the flow control screws of the series-
connected GRLA-.../GRLZ-...
– at first completely,
– then loosen again one turn.
• Start a test run using the specified sequence:
Test run Tests
Without work
load
– Correct assignment of the compressed air
connections
– Gripping speed
– Function of the proximity switches
With load – Load is gripped firmly
1.Listen to the knocking of the piston:
Piston stop: soft Piston stop: hard
_ Screw the flow control screw in one turn.
The maximum gripper speed has been
reached.
Continue test run with
points 2 and 3.
Finish the test run
2.Unscrew the flow control screws of the series-con-
nected GRLA-.../GRLZ-... one turn.
3.Repeat points 1 and 2 until the desired gripper speed
has been reached.
• Finish the test run. The status must then be “Gripper
exhausted”.
5 Operation
• Avoid the HGPC-... coming into contact with the following:
– coolants which cause corrosion
– grinding dust
– glowing sparks or chips.
These will damage the HGPC-... .
If the work load mass changes:
• Observe the permitted gripper loads.
• Observe also the maximum permitted gripping force.
6 Maintenance and care
• Grease the gripper jaws on the HGPC-... after 10 million
switching cycles. Permitted greases see “Accessories”.
• If necessary, clean the exterior of the HGPC-... with a
soft cloth.
The permitted cleaning agent is:
soap suds, max. + 60 °C.
7 Dismantling and repairs
Dismantling:
• Exhaust the system and the device.
• Do not modify the settings of screws and threaded pins
if there is no request to do this in these operating in-
structions. For security reasons, the screws are fas-
tened with a locking medium.
• Defective grippers should always be returned to Festo.
8 Accessories
Designation Type
Centring sleeves ZBH-...
Proximity switch SME-10..-.../SMT-10..-...
Grease Molycote DX
9 Troubleshooting
Fault Possible cause Remedy
Gripper cannot
h ld l d
Mass too large Select larger gripper pp
hold load
firmly
Input pressure too low Increase input pressure
(up to max. permitted
value)
Centre of pressure of
gripper fingers too far
outwards
Shift centre of pressure
inwards
Proximity
switch does
not show grip-
i t t
Proximity switch
incorrectly adjusted
Check position and
calibration of proximity
switch ot s ow g p
ping status Cable fracture Replace connecting cable
Gripper does
not open/
l
No compressed air Check the compressed air
connections p /
close
Gripper defective Return HGPC-... to Festo
10 Technical specifications
Type HGPC-... 12 16 20
Design Double-acting parallel grippers
Medium Filtered, lubricated or
non-lubricated compressed air
(grade of filtration min. 40 µm)
Mounting position As desired
Compressed air bar min. 2 ... max. 8
min. 4 ... max. 8 (with HGPC-...-G..)
Pneum. connection M5
(tightening torque 5.9 Nm)
Complete stroke mm 6 ±1 10 ±1 14 ±1
Permitted temperature
range
°C 5 ... +60
Permitted force Fz (stat.) N 40 80 120
Permitted torque M (stat.)
Mx = My = Mz Nm 1 2.5 5
Max. gripper finger
weight force:
– unrestricted
– closing time 0.04 s
– closing time 0.06 s
– closing time 0.08 s
– closing time 0.1 s
N 0.2
0.4
0.5
0.6
–
0.5
–
–
0.7
1
0.8
–
–
–
1.2
Approx. mass moment of
inertia (gripper only)
[10 -4 kgm 2 ]
0.27 0.68 2.1
Closing time *)
(without load)
ms 30 60 90
Max. permitted work
frequency **)
Hz 4
Repetition accuracy mm < 0.05
Max. replacement
accuracy
mm < ± 0.2
Materials Housing: GD-Zn (painted)
Jaws, screws: St (rustproof )
Rollers, pins: St (hardened)
Seals: NBR
Piston: PA 66
Weight ***) kg 0.15 0.24 0.48
*) At 6 bar; without locking the gripping force
**) High working frequency will reduce the service life
***) Without proximity switch
Parallel grippers
HGPC-...
Operating instructions
Original: de
Festo AG & Co. KG
Postfach
D-73726 Esslingen
Tel.:
+49/711/347-0
0509a de/en 697 618