Gripper modules GM GMQ 12 - GMQ 32 & GMK 20 - GMK 32

Transcription

1 Table of contents: GM Gripper modules GM GMQ - GMQ & GMK 0 - GMK Gripper modules GM GMQ Gripper actuator & gripper GM GMK 0 GMQ 0 Gripper actuator & gripper GMK/GMQ 0 GMK GMQ 0 Gripper actuator & gripper GMK/GMQ Page Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

2 Nomenclature-Setup GM Gripper conversion GM GMQ 0/P Gripping rotary module Possible specifications GM gripper actuator GM Q can be acknowledged Q 0 P compact version piston diameter gripper actuator gripper K 0../K../P../P-0 The Afag gripper modules consist of a gripper actuator and a gripper. There are two gripper actuator variants and three gripper variants, and these can be combined with each other. The grippers can be rotated and fixed axially to the gripper actuator in any desired position. Maximum flexibility and application diversity are therefore guaranteed. All GMQ gripper actuators can be operated with shock absorbers and stop screws. gripper Greifantriebe actuator grippers Greifzangen GMQ 0../P../K../P../P-0 GMQ 0/P Afag gripper module gripping options: All Afag gripper modules are designed for external and internal clamping, as well as single and double-action operation. An integrated spring provides gripping force securing when in a depressurised state. All gripper modules are supplied ex works with external clamping and gripping force securing (closed pressure-free). If required, each gripper can be easily modified for another function within just one minute. For this, no additional components are required. Conversion to internal clamping: Loosen screw (+) Remove gripper () Loosen screw (+) Remove guide pin () Pull out piston () with spring () Remove stroke stop () (only for GMQ) Reapply piston () with spring, () reversed Assemble module in reverse order Carry out functional check For more information visit: Operating manual GMQ/GMK Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0

3 Gripper modules GM GMQ Drive combinable with different grippers Gripping force securing Parallel and swivelling grippers Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

4 Dimensions and dimension drawings GMQ Technical data GMQ. 0 GMQ /K. 0 GMQ /P-0 0 GMQ /P GMQ Attachment grid mm Operating pressure +/- bar Air connection P M Cylinder Ø mm Operating temperature 0-0 C Bearing temperature 0-0 C Type GMQ /K GMQ /P GMQ /P-0 Order number kg 0. kg 0. kg Weight, finger g 0 g 0 g Air consumption/cycle 0.00 NL 0.00 NL 0.00 NL Gripping time * 0. s * 0.0 s * 0.0 s Gripping force * N * N * N Spring force N N N Opening angle Opening stroke mm mm mm Repeat accuracy +/- 0.0 mm +/- 0.0 mm +/- 0.0 mm Mounting position The technical data refer to a nominalpressure of bar under Afag standard test conditions. The module can be operated with lubricated or dry air. Cleanroom class: (Federal Standard 0E) * Observe gripping force diagrams - Measurements for slowly closing fingers - All module measurements carried out via outer clamping. Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx0 x Washer M Accessories Stop screw AS 0/ Adjusting stop pin Mx/ Shock absorber SD Mx - INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx Warranty: months following commissioning, but a maximum of months following delivery Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0 0 0

5 Preferred combinations GMQ Module stresses GMQ CS, VP 0 CS, VP 0 CS, VP 0 PS,, VP 0 LM LM CS, ES PMP, PMP-c VW 0 < direct > VW 0 < direct > PS PEZ, PDZ LM 0, VP HM 0 VP 0 ES, VP 0 SA-, VP 0 SA-, VP 0 CR VP 0 RM VF 0 RM VF RE-0 VP 0 LM, LE PEL, PDL Mounting areas HM CR, RM, RE SA RM, RE OZ UG, GM, EG, EU, SG, DG, PG, EG/GM RE Note that there might be different mounting positions from one module to another one. The required connection elements and the range of support columns are depicted in the catalogue HT accessories. Fingerlänge length zentrisch centric GMQ / GMK /K Fingerlänge length zentrisch centric GMQ / GMK /P GMQ / GMK /P-0 Fingerlänge length exzentrisch eccentric GMQ / GMK /P GMQ / GMK /P-0 Gripping force diagrams per jaw GMQ /P + GMQ /P-0 centric gripping force Gripping Greifkraftforce Gripping Greifkraft force mit with Greifkraftsicherung spring GMQ /P eccentric gripping force N N GMQ /P-0 eccentric spring force N N N N 0 N GMQ /P-0 eccentric gripping force with gripping force securing N N N N N GMQ /P eccentric spring force N N GMQ /P eccentric gripping force with gripping force securing N N GMQ /P-0 eccentric gripping force N N 0 N N N GMQ /P + GMQ /P-0 centric gripping force Gripping Greifkraftforce Gripping Greifkraft force mit with Greifkraftsicherung spring Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

6 Gripper actuator GMQ Gripper GMQ Gripper actuator GMQ Order number 00 P 0 Ø. 0. ±0.0 Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx0 x Washer M 0-0 Mx 0 M/ Ø h Ø K/. Ø : 0. max. mm. Accessories Stop screw AS 0/ Adjusting stop pin Mx/ Shock absorber SD Mx - INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx P 0.0 kg M Ø h Gripper GM /K Order number kg Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. Gripper GM /P Order number 00 Stroke H Mx Gripper GM /P-0 (.) H Ø H (.)... H Mx. Mx 0 mm 0.0 kg Order number 0000 H 0. kg Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

7 Gripper modules GM GMK 0 Drive combinable with different grippers Gripping force securing Parallel and swivelling grippers Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

8 Dimensions and dimension drawings GMK 0 Technical data GMK 0 GMK 0/K GMK 0/P-0 GMK 0/P GMK 0 Attachment grid 0 mm Operating pressure +/- bar Air connection P M Cylinder Ø 0 mm Operating temperature 0-0 C Type GMK 0/K GMK 0/P GMK 0/P-0 Order number kg 0. kg 0. kg Weight, finger 0 g 0 g 0 g Air consumption/cycle 0.0 NL 0.0 NL 0.0 NL Gripping time * 0. s * 0. s * 0. s Gripping force * N * N * 0 N Spring force - N - N - N Opening angle 0 Opening stroke mm 0 mm 0 mm Repeat accuracy +/- 0.0 mm +/- 0.0 mm +/- 0.0 mm Mounting position The technical data refer to a nominalpressure of bar under Afag standard test conditions. Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. The module can be operated with lubricated or dry air. Cleanroom class: (Federal Standard 0E) * Observe gripping force diagrams - Measurements for slowly closing fingers - All module measurements carried out via outer clamping. Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx x Washer M Warranty: months following commissioning, but a maximum of months following delivery Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0 0 0

9 Preferred combinations GMK 0 Module stresses GMK 0 CS, VP 0 CS, VP 0 CS 0, VP PS,, VP 0 PS CS, ES PMP, PMP-c, VP 0 VP PS PEZ, PDZ LM 0, < direct > LM, < direct > LM VP 0 HM 0 VP 0 HM VP 0 ES0 VP 0 SA-, VP 0 SA-, VP 0 CR VP 0 CR 0 VP 0 RM VF RE-0 VP 0 RE- VP LM, LE PEL, PDL Mounting areas HM CR, RM, RE SA RM, RE OZ UG, GM, EG, EU, SG, DG, PG, EG/GM RE Note that there might be different mounting positions from one module to another one. The required connection elements and the range of support columns are depicted in the catalogue HT accessories. Fingerlänge length zentrisch centric Fingerlänge length zentrisch centric Fingerlänge length exzentrisch eccentric GMQ / GMK 0/K GMQ / GMK 0/P GMQ / GMK 0/P GMQ / GMK 0/P-0 Gripping force diagrams per jaw GMK 0/K centric gripping force GMK 0/P eccentric gripping force N 0 N N N N GMK 0/P centric gripping force Gripping Greifkraft mit force Greifkraftsicherung with spring Gripping Greifkraft force Gripping Greifkraft mit force Greifkraftsicherung with spring Gripping Greifkraft force GMK 0/P eccentric spring force N N 0 N N N GMK 0/P eccentric gripping force with gripping force securing N N N N 0 N GMK 0/P-0 centric gripping force F [N] 00 Gripping Greifkraft force mit Greifkraftsicherung with spring Gripping Greifkraft force Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

10 Gripper modules GM GMQ 0 Drive combinable with different grippers Gripping force securing Parallel and swivelling grippers Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

11 Dimensions and dimension drawings GMQ 0 Technical data GMQ 0 GMQ 0/K 0 GMQ 0/P-0 0 GMQ 0/P 0 GMQ 0 Attachment grid 0 mm Operating pressure +/- bar Air connection P M Cylinder Ø 0 mm Operating temperature 0-0 C Type GMQ 0/K GMQ 0/P GMQ 0/P-0 Order number kg 0. kg 0. kg Weight, finger 0 g 0 g 0 g Air consumption/cycle 0.0 NL 0.0 NL 0.0 NL Gripping time * 0. s * 0. s * 0. s Gripping force * N * N * 0 N Opening angle 0 Opening stroke mm 0 mm 0 mm Repeat accuracy +/- 0.0 mm +/- 0.0 mm +/- 0.0 mm Mounting position The technical data refer to a nominalpressure of bar under Afag standard test conditions. Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. The module can be operated with lubricated or dry air. Cleanroom class: (Federal Standard 0E) * Observe gripping force diagrams - Measurements for slowly closing fingers - All module measurements carried out via outer clamping. Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx x Washer M Accessories Stop screw AS 0/ Adjusting stop pin Mx/ Shock absorber SD Mx - INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx Warranty: months following commissioning, but a maximum of months following delivery Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0 0 0

12 Preferred combinations GMQ 0 Module stresses GMQ 0 CS, VP 0 CS, VP 0 CS 0, VP PS,, VP 0 PS CS, ES PMP, PMP-c, VP 0 VP PS PEZ, PDZ LM 0, < direct > LM, < direct > HM 0 VP 0 HM VP 0 ES0 VP 0 SA-, VP 0 SA-, VP 0 CR VP 0 CR 0 VP 0 RM VF RE-0 VP 0 RE- VP LM, LE PEL, PDL Mounting areas HM CR, RM, RE SA RM, RE OZ UG, GM, EG, EU, SG, DG, PG, EG/GM RE Note that there might be different mounting positions from one module to another one. The required connection elements and the range of support columns are depicted in the catalogue HT accessories. Fingerlänge length zentrisch centric Fingerlänge length zentrisch centric Fingerlänge length exzentrisch eccentric GMQ / GMK 0/K GMQ / GMK 0/P GMQ / GMK 0/P GMQ / GMK 0/P-0 Gripping force diagrams per jaw GMQ 0/K centric gripping force GMQ 0/P eccentric gripping force N 0 N N N N GMQ 0/P centric gripping force Gripping Greifkraft mit force Greifkraftsicherung with spring Gripping Greifkraft force Gripping Greifkraft mit force Greifkraftsicherung with spring Gripping Greifkraft force GMQ 0/P eccentric spring force N N 0 N N N GMQ 0/P eccentric gripping force with gripping force securing N N N N 0 N GMQ 0/P-0 centric gripping force F [N] 00 Gripping Greifkraft mit force Greifkraftsicherung with spring Gripping Greifkraft force Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0

13 Gripper actuator Gripper Gripper actuator GMK 0 Order number 00 P Gripper actuator GMQ 0 Order number 00 P.±0..±0. () Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx x Washer M Inlcuded in the delivery x Centering pin Øx x Mounting screw Mx x Washer M 0-0 ±0.0 0 ±0.0 Mx0 Ø h Mx P 0 ±0.0 max. mm Ø K/. Ø. Mx0 Ø h. 0 ±0.0. P Accessories Adjusting stop pin Mx/ Shock absorber SD Mx - Stop screw AS 0/ INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx max. mm Ø K/. Ø. Ø h. P 0. kg M 0. kg M Ø h Gripper GM 0/K Order number kg Opening angle 0 Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. Gripper GM 0/P Order number 00 Stroke H Opening stroke Ø H H H Gripper GM 0/P-0 Mx x Mx 0G mm 0.0 kg x mm Order number 00 Opening stroke Mx H Mx 0 h kg x mm Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

14 Gripper modules GM GMK Drive combinable with different grippers Gripping force securing Parallel and swivelling grippers Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

15 Dimensions and dimension drawings GMK Technical data GMK 0 GMK /K 0 GMK /P GMK Attachment grid mm Operating pressure +/- bar Air connection P G / Cylinder Ø mm Operating temperature 0-0 C Type GMK /K GMK /P Order number kg.0 kg Weight, finger 0 g 0 g Air consumption/cycle 0.0 NL 0.0 NL Gripping time * 0. s * 0. s Gripping force * 0 N * N Opening angle Opening stroke mm mm Repeat accuracy +/- 0.0 mm +/- 0.0 mm Mounting position The technical data refer to a nominalpressure of bar under Afag standard test conditions. Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. The module can be operated with lubricated or dry air. Cleanroom class: (Federal Standard 0E) * Observe gripping force diagrams - Measurements for slowly closing fingers - All module measurements carried out via outer clamping. Inlcuded in the delivery x Centering bushing Øx x Mounting screw Mx0 x Washer M Warranty: months following commissioning, but a maximum of months following delivery Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0 0 0

16 Preferred combinations GMK Module stresses GMK CS 0, < direct > CS, < direct > PS CS, ES PMP, PMP-c, VP < direct > PS PEZ, PDZ PS,, < direct > LM 0, < direct > LM, < direct > LM < direct > VP ES0, < direct > SA-, VP SA-, VP CR 0 < direct > RM VF RE-0 VP RE- < direct > LM, LE PEL, PDL Mounting areas HM CR, RM, RE SA RM, RE OZ UG, GM, EG, EU, SG, DG, PG, EG/GM RE Note that there might be different mounting positions from one module to another one. The required connection elements and the range of support columns are depicted in the catalogue HT accessories. Fingerlänge length zentrisch centric Fingerlänge length zentrisch centric Fingerlänge length exzentrisch eccentric GMQ / GMK /K GMQ / GMK /P GMQ / GMK /P Gripping force diagrams per jaw GMK /K centric gripping force Gripping Greifkraftforce Gripping Greifkraft force mit Greifkraftsicherung with spring GMK /P eccentric gripping force N 0 N 0 N N GMQ /P eccentric gripping force with gripping force securing N 0 N N 00 N GMK /P eccentric spring force N N N N GMK /P centric gripping force Gripping Greifkraftforce Gripping Greifkraft force mit Greifkraftsicherung with spring Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

17 Gripper modules GM GMQ Drive combinable with different grippers Gripping force securing Parallel and swivelling grippers Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0

18 Dimensions and dimension drawings GMQ Technical data GMQ 0 GMQ /K 0 0 GMQ /P GMQ Attachment grid mm Operating pressure +/- bar Air connection P G / Cylinder Ø mm Operating temperature 0-0 C Type GMQ /K GMQ /P Order number kg. kg Weight, finger 0 g 0 g Air consumption/cycle 0.0 NL 0.0 NL Gripping time without shock absorber * 0. s * 0. s Gripping time with shock absorber * 0. s * 0. s Gripping force * 0 N * N Opening angle Opening stroke mm mm Repeat accuracy +/- 0.0 mm +/- 0.0 mm Mounting position The technical data refer to a nominalpressure of bar under Afag standard test conditions. Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. The module can be operated with lubricated or dry air. Cleanroom class: (Federal Standard 0E) * Observe gripping force diagrams - Measurements for slowly closing fingers - All module measurements carried out via outer clamping. Inlcuded in the delivery x Centering bushing Øx x Mounting screw Mx0 x Washer M Accessories Stop screw AS 0/ Adjusting stop pin Mx/ Shock absorber SD Mx - INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx Warranty: months following commissioning, but a maximum of months following delivery Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning 0 0 0

19 Preferred combinations GMQ Module stresses GMQ CS 0, < direct > CS, < direct > PS CS, ES PMP, PMP-c, VP < direct > PS PEZ, PDZ PS,, < direct > LM 0, < direct > LM, < direct > LM < direct > ES0, < direct > SA-, VP SA-, VP CR 0 < direct > RM VF RE-0 VP RE- < direct > LM, LE PEL, PDL Mounting areas HM CR, RM, RE SA RM, RE OZ UG, GM, EG, EU, SG, DG, PG, EG/GM RE Note that there might be different mounting positions from one module to another one. The required connection elements and the range of support columns are depicted in the catalogue HT accessories. Fingerlänge length zentrisch centric Fingerlänge length zentrisch centric Fingerlänge length exzentrisch eccentric GMQ / GMK /K GMQ / GMK /P GMQ / GMK /P Gripping force diagrams per jaw GMQ /K centric gripping force Gripping Greifkraft force Gripping Greifkraft force mit Greifkraftsicherung with spring GMQ /P eccentric gripping force N 0 N 0 N N GMQ /P centric gripping force Gripping Greifkraftforce Gripping Greifkraft force mit Greifkraftsicherung with spring GMQ /P eccentric spring force N N N N GMQ /P eccentric gripping force with gripping force securing N 0 N N 00 N Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning

20 Gripper actuator Gripper Gripper actuator GMK Order number kg P G/ Gripper actuator GMQ Order number kg P G/ Inlcuded in the delivery x Centering bushing Øx x Mounting screw Mx0 x Washer M ±0.0 Inlcuded in the delivery x Centering bushing Øx x Mounting screw Mx0 x Washer M ± ±0.0 ±0.0 Mx0 Ø 0h x Mx 0 0±0.0 Mx0 Ø 0h 0 ±0.0 Ø. Ø K/. max. mm P max. mm Ø. Ø K/... P P Ø 0h Ø 0h Accessories Adjusting stop pin Mx/ Stop screw AS 0/ Shock absorber SD Mx - INI d.x-sn.-pnp-no-mx INI d.x-sn.-pnp-no-mx Gripper GM /K Order number 00 Gripper GM /P Order number 00 0 H Ø 0H H Mx x Mx G 0. kg Note: It must be ensured that the jaw movement is carried out without impact or bouncing. This can be done via the corresponding throttling. Otherwise, the service life will be reduced. 0. kg Handling technology HT Components gripping/turning afag.com afag.com Handling technology HT Components gripping/turning