GRIPPER (SERIES SGP-S) PNEUMATIC GRIPPERS · GRIPPER (SERIES SGP-S) ... • Available upon request...
Transcript of GRIPPER (SERIES SGP-S) PNEUMATIC GRIPPERS · GRIPPER (SERIES SGP-S) ... • Available upon request...
238
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
SGP-20S SGP-25S SGP-32S SGP-40S
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
2-JAW SELF-CENTERING PARALLEL PNEUMATIC GRIPPER (SERIES SGP-S)• Double-acting.• Patented backlash adjusting system.• High performance in a compact size.• The rugged construction ensures a trouble-free long life and
reliability without maintenance.• Multiple mounting and porting options.• Prepared for adjustable inductive sensors.• Available upon request with FDA H1 food grease.
SGP-20S SGP-25S SGP-32S SGP-40S
Price $261.00 $261.00 $295.00 $308.00
Medium Filtered compressed air, lubricated or non-lubricated
Pressure range 29-116 psi
Temperature range 41-140 °F
Gripping force on each jaw on opening at 87 psi 5.2 lbf 11.7 lbf 15.1 lbf 18 lbf
Total gripping force on opening at 87 psi 10.4 lbf 23.4 lbf 30.2 lbf 36 lbf
Gripping force on each jaw on closing at 87 psi 4.5 lbf 10.6 lbf 13.5 lbf 16.4 lbf
Total gripping force on closing at 87 psi 9 lbf 21.2 lbf 27 lbf 32.8 lbf
Total stroke ±0.0118''
(±0.3 mm)0.157'' (4 mm)
0.236'' (6 mm)
0.315'' (8 mm)
0.472'' (12 mm)
Maximum operating frequency 3 Hz 3 Hz 3 Hz 3 Hz
Air consumption per cycle 0.03 in3 0.08 in3 0.15 in3 0.27 in3
Closing time without load 0.01 s 0.01 s 0.02 s 0.05 s
Repetition accuracy0.000787'' (0.02 mm)
0.000787'' (0.02 mm)
0.000787'' (0.02 mm)
0.000787'' (0.02 mm)
Weight 0.073 lb (33g) 0.095 lb (43g) 0.19 lb (86g) 0.37 lb (170g)
239
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
Part# Price
GSG-IS-NPN NPN 2m cable $58.50
GSG-IS-PNP PNP 2m cable $58.50
E
T1T2
S1
S2
DE
D
SSGP-20S SGP-25S SGP-32S SGP-40S
S Ø3mm Ø4mm Ø4mm Ø4mm
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
SENSORSThe operating position is detected by two inductive sensors S1 and S2, (optional) through the screw heads T1 and T2 placed on the right jaw.
The sensing position of the sensors can be adjusted in the following way: the plastic spacer, (D) must be shortened according to the adjustment.The second spacer, (E) must be installed if the gripper is used to grip parts from the inside.
Fully closed gripper Fully open gripper
Use 3mm diameter inductive sensors on the SGP-20S and 4mm diameter on the other sizes.
240
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
R2
16
32
15.8
3.5
16
20
15 18.5
R18
13.5
15.5 max. 18.5 max.
16.5
±0
.02
15 ±0.02
1.6
9.2
9 -0.05
5.5 ±0.02
4.5
±0.0
2
13.5
24
2
12.7
8
20
4
8
8 ±0.02
4.4
3.2
= =
= =
= =
= =
= =
= =
= =
= =
= =
= =
= =
7
8
6
C
5
7
4
A
3 12
SGP-20S
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
DIMENSIONS (mm)
Hole for inductive sensor Ø3
(2) M2.5x6mmMounting hole
(No. 2) Ø4H8x2mmSeat for centering sleeves
Ø3H11x3.5mmMounting thru hole
Stroke of each jaw
1
2
3
4
5
Ø1.5H8x3.5mmDowel Pin Hole
(2) M2.5x4mmMounting hole
Ø1.5H8x3mmDowel Pin Hole
M3Compressed air in A: gripper opening
M3Compressed air in C: gripper closing
6
7
8
A
C
OPEN
CLOSED
RG.RO-1376-AS1Straight M3 fitting
RG.RO-1376-AS2Adjustable M3 fitting
241
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
18
17.8
4
19
25
15
26
12
18.5 23.5
34
6.5 3.5
7.5 7
20 ±0.02
26
10 -0.05
4
10 3
.5
2.8
4.4
8
13.7
3
3.5 6.5
R5.6
6 ±0.02
4 ±
0.0
2
15
±0
.02
20.5 max. 24.5 max.
6.5
10 ±0.02
R18
= =
= =
= = = =
= =
= =
= ==
=
= =
= =
3 12
c
a
6
C
5
7
4
A
8
7
SGP-25S
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
DIMENSIONS (mm)
Hole for inductive sensor Ø4
(2) M3x7mmMounting hole
(2) Ø5H8x2.4mmSeat for centering sleeves
Ø3H11x4mmMounting thru hole
Stroke of each jaw
1
2
3
4
5
Ø1.5H8x4mmDowel Pin Hole
(2) M3x5mmMounting hole
Ø2H8x4mmDowel Pin Hole
M3Compressed air in a: gripper opening
M3Compressed air in A: gripper opening
M3Compressed air in c: gripper closing
M3Compressed air in C: gripper closing
6
7
8
a
A
c
C
OPEN
CLOSED
RG.RO-1376-AS1Straight M3 fitting
RG.RO-1376-AS2Adjustable M3 fitting
242
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
SGP-32S
9.5
6.3
43
22
21.8
19
33
8.5
7.5
25 ±0.02
5
12 -0.05
10
24
32
5 8 ±0.02
4.7
3.7
5.4
4
10
32
16.2
29.5
5 ±
0.0
211
23
10
19
±0
.02
25 max. 30 max.
27 ±0.02
R6.6
R28
= =
= =
= = = =
= =
= =
= =
= =
= =
= =
= =
= =
3 12
c
a
6 4
C
A
5
7
7
8
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
DIMENSIONS (mm)
Hole for inductive sensor Ø4
(2) M4x7.5mmMounting hole
(2) Ø6H8x2.9mmSeat for centering sleeves
Ø4H11x5mm Mounting thru hole
Stroke of each jaw
1
2
3
4
5
Ø2H8x5mmDowel Pin Hole
(2) M3x5mmMounting hole
Ø2H8x5mmDowel Pin Hole
M3Compressed air in a: gripper opening
M5Compressed air in A: gripper opening
M3Compressed air in c: gripper closing
M5Compressed air in C: gripper closing
6
7
8
a
A
c
C
OPEN
CLOSED
243
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
SGP-40S
51
25.8
26 6
28
40
6
16 -0.05
6
12
24
32 ±0.028.8
5
10 ±0.02
23.5
39
22.2
10
40
14
5
28 33.5
6 ±
0.0
23
7
10
23
.5
22
±0
.02
21 ±0.02
31 max. 35.5 max.
R7.4
R30
= =
= =
= =
= =
= =
= =
= =
= =
= =
= =
= =
= =
6
C
3 1
5
2
c
7
7
8
=
=
4
A
a
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
DIMENSIONS (mm)
Hole for inductive sensor Ø4
(2) M4x9.5mmMounting hole
(2) Ø6H8x2.9mmSeat for centering sleeves
Ø4H11x6mmMounting thru hole
Stroke of each jaw
1
2
3
4
5
Ø2.5H8x6mmDowel Pin Hole
(2) M3x5mmMounting hole
Ø2.5H8x6mmDowel Pin Hole
M3Compressed air in a: gripper opening
M5Compressed air in A: gripper opening
M3Compressed air in c: gripper closing
M5Compressed air in C: gripper closing
6
7
8
a
A
c
C
OPEN
CLOSED
244
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
H
1
2
8
7
2
3
7
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
MOUNTING THE GRIPPERThe gripper can be mounted to a static or a moving part. When on a moving part, attention must be paid to the inertial force which the gripper and its load are subjected to.1- To mount the gripper on the side, use (2) bolts through the
mounting plate and thread them into the holes 7 of the gripper. The mounting holes can be found on both sides and the dowel pin holes 8 are one side only.
2- To mount the gripper from the bottom, use (2) bolts through the mounting plate and thread them into the holes 2 . Use the (2) supplied centering sleeves (H) for alignment into the dowel pin holes 3 .
245
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
G
F
G
F
6
4
6
4
SGP-20S SGP-25S SGP-32S SGP-40S
7 M2.5x4 mm M3x5 mm M3x5 mm M3x5 mm
2 M2.5x6 mm M3x7 mm M4x7.5 mm M4x9.5 mm
H Ø4h8 x Ø2.6 x 4 mm Ø5h7 x Ø3.2 x 4.4 mm Ø6h7 x Ø4.2 x 5.3 mm Ø6h7 x Ø4.2 x 5.3 mm
4 Ø3H11 x 3.5 mm Ø3H11 x 4 mm Ø4H11 x 5 mm Ø4H11 x 6 mm
G M3 M3 M4 M4
F 9 -0.05 mm 10 -0.05 mm 12 -0.05 mm 16 -0.05 mm
3 Ø4H8 x 2 mm Ø5H8 x 2.4 mm Ø6H8 x 2.9 mm Ø6H8 x 2.9 mm
8 Ø1.5H8 x 3 mm Ø2H8 x 4 mm Ø2H8 x 5 mm Ø2.5H8 x 6 mm
6 Ø1.5H8 x 3.5 mm Ø1.5H8 x 4 mm Ø2H8 x 5 mm Ø2.5H8 x 6 mm
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
MOUNTING THE GRIPPER FINGERSThe fingers must be as short and light as possible.Mount them with a bolt through the hole 4 of the jaw and thread into the finger, (G).For precise positioning of the fingers on the jaws, use the calibrated dimension (F), or the dowel pin holes 6 .
246
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
SGP-20S
SGP-25S
SGP-32S
SGP-40S
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
GRIPPING FORCEThe graphs show the average gripping force on each jaw, as a function of the operating pressure, of the gripper finger length Z and of the overhanging X.
opening
opening
opening
opening
closing
closing
closing
closing
Grip
ping
Forc
eGr
ippi
ng Fo
rce
Grip
ping
Forc
eGr
ippi
ng Fo
rce
Grip
ping
Forc
e
opening (87 psi)
opening (87 psi)
opening (87 psi)
opening (87 psi)
closing (87 psi)
closing (87 psi)
closing (87 psi)
closing (87 psi)
Grip
ping
Forc
eGr
ippi
ng Fo
rce
Grip
ping
Forc
e
The force shown in these graphs refers to one jaw. The total force is double.
GRIPPING FORCE N x 0.225 = lbf
PRESSURE bar x 14.5 = psi
247
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
F
My
Mx
Mz
SGP-20S SGP-25S SGP-32S SGP-40S
F s 30 N 50 N 70 N 120 N
Mx s 1 Nm 2 Nm 4 Nm 6 Nm
My s 1 Nm 2 Nm 4 Nm 6 Nm
Mz s 1 Nm 2 Nm 4 Nm 6 Nm
F d 0.3 N 0.5 N 0.7 N 1.2 N
Mx d 1 Ncm 2 Ncm 4 Ncm 6 Ncm
My d 1 Ncm 2 Ncm 4 Ncm 6 Ncm
Mz d 1 Ncm 2 Ncm 4 Ncm 6 Ncm
m 0.2s 30 g 50 g 70 g 120 g
m 0.05s 10 g 20 g 30 g 40 g
m 0.02s 7 g 15 g 20 g -
m 0.01s 5 g 10 g - -
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
SAFETY LOADSCheck the table for maximum permitted loads.Excessive forces or torques can damage the gripper, cause malfunctions 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 when the jaws are motionless.F d, Mx d, My d, Mz d, are the maximum permitted loads under dynamic conditions, that is when the jaws are moving.The maximum permitted weight mass (m) on each gripper finger as function of the closing or opening time is also shown. Use flow controllers (not supplied) to achieve the desired speed.
248
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
GRIPPINGThe gripper is double acting and can be used for either internal (A) or external (B) gripping applications.The gripping force is higher on opening than on closing.
Pressurized chamber
249
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
A
C
a
a
c
c
A
a C
c
O-RingØ1.78x2.90 Ø6.3H11x1.3+0.1
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
PIPING THE UNITThe gripper is pressurized from the side ports (A and C) using proper fittings and tubing (not supplied). Alternatively, it can be pressurized directly through the lower holes (a and c) (except SGP-20S) after removing the plugs.
Compressed air in A or a: gripper opening.Compressed air in C or c: gripper closing.
The compressed air must be filtered using a 5 to 40 micron filter.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 pressurized progressively to avoid uncontrolled movements.
PNEUMATIC CIRCUITPossible problems on a compressed air circuit:1- Pressure variations.2- Pressurizing 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).
O-Ring seat
250
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
Max 0.02mm
Max 0.02mm
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
CAUTIONNever let the gripper come into contact with corrosive substances, powders, or soldering or welding spatter as they will damage the gripper.Never let non-authorized 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.
MAINTENANCEThe gripper must be lubricated every twenty million cycles using the following products:• BERULUB FG-H 2 EP
(Lubricant NSF H1 Registration No. 140486).
The jaw backlash as shown below, is set at the factory.NEVER USE THE ADJUSTING SCREWS TO MODIFY IT.
251
01
/20
17
SGP-S
www.gimaticUSA.com • 216-535-4811
®
by
PN
EUM
ATI
C G
RIP
PER
S
2-jaw parallel grippers
PARTS LIST
SGP-20S SGP-25S SGP-32S SGP-40S
1 Gripper housing SGP-20-01 SGP-25-01 SGP-32-01 SGP-40-01 1
2 Jaw holder SGP-20-02 SGP-25-02 SGP-32-02 SGP-40-02 2
3 Left jaw SGP-20-03 SGP-25-03 SGP-32-03 SGP-40-03 3
4 Piston SGP-20-04 SGP-25-04 SGP-32-04 SGP-40-04 4
5 Special bolt SGP-20-05 SGP-25-05 SGP-32-05 SGP-40-05 5
6 Head SGP-20-06 SGP-25-06 SGP-32-06 SGP-40-06 6
7 Sensor guide SGP-20-07 SGP-25-07 SGP-25-07 SGP-25-07 7
8 Protection SGP-20-08 SGP-25-08 SGP-32-08 SGP-40-08 8
9 Lever PAR-10-8C SP-20-4 SP-25-4 SGP-40-09 9
10 O-RING Ø1.78x3.69 (GUAR-044) Ø1.78x4.48 (GUAR-029) Ø1.78x6.07 (GUAR-039) Ø1.78x6.75 (GUAR-012) 10
11 Dynamic gasket Ø1.78x7.66 (GUAR-045) 16x9x2.5 (GUAR-002P) Ø1.78x14 (GUAR-007) 20x13x2.5 (GUAR-040P) 11
12 O-RING Ø1x9 (GUAR-168) Ø1x14 (GUAR-084) Ø1.78x14 (GUAR-007) Ø1.78x17.17 (GUAR-076) 12
13 Elastic washer - Ø2.2 DIN127A Ø3.2 DIN127A Ø3.2 DIN127A 13
14 Dowel pin Ø2.5x25mm DIN6325 Ø2.5x32mm DIN6325 Ø3x40mm DIN6325 Ø3x50mm DIN6325 14
15 Dowel pin - Ø2x8mm DIN6325 Ø2.5x8mm DIN6325 Ø2.5x11.8 mm DIN5402 15
16 Bolt M1.6x5mm DIN7985 M2x5mm DIN7985A INOX M2x5mm DIN7985A INOX M2x5 mm DIN7985A INOX 16
17 Hex nut - M2 DIN936 INOX M3 DIN934 INOX M3 DIN934 INOX 17
18 Bolt M2x12mm DIN7985 INOX M2.5x12mm DIN912 INOX M2.5x12mm DIN912 INOX M3x20mm DIN912 INOX 18
19 Grub screw - M3x3mm DIN913 M3x3 mm DIN913 M3x3 mm DIN913 19
20 Bushing SGP-20-09 SGP-25-09 SGP-32-09 SGP-32-09 20
21 O-RING - - Ø1x14 (GUAR-084) - 21
22 Dowel pin Ø2x6.3mm DIN6325 Ø2x8mm DIN6325 Ø2.5x8mm DIN6325 Ø2.5x8mm DIN6325 22
23 Right jaw SGP-20S-01 SGP-25S-01 SGP-32S-01 SGP-40S-01 23
24 Spacer SGP-20-10 UG-16-09 UG-18-09 SGP-40S-02 24
25 Spacer SGP-20-11 UG-16-11 UG-16-11 SGP-40S-03 25
26 Bolt M1.6x3mm DIN7985 M2x5mm DIN7985 INOX M2x5mm DIN7985 INOX M2x5mm DIN7985 INOX 26
27 Bolt M1.6x5mm DIN7985 M2x8mm DIN7985 INOX M2x8mm DIN7985 INOX M2x12mm DIN7985 INOX 27
28 Bolt M1.6x8mm DIN7985 M2x10mm DIN7985 INOX M2x10mm DIN7985 INOX M2x10mm DIN7985 INOX 28