Translation of the original manual
Assembly and operating manualPSH
2-Finger-Parallel Gripper
Page 1: ...Translation of the original manual Assembly and operating manual PSH 2 Finger Parallel Gripper ...
Page 2: ...ations for the purpose of technical improvement Document number 389331 Version 10 00 03 05 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our family owned company the leading technology supplier of robots and production machines Our team is always available to answer any questions on this product and other solutions Ask us questions and challeng...
Page 3: ...onnel qualification 9 2 8 Personal protective equipment 10 2 9 Notes on safe operation 10 2 10 Transport 10 2 11 Malfunctions 11 2 12 Disposal 11 2 13 Fundamental dangers 11 2 13 1 Protection during handling and assembly 11 2 13 2 Protection during commissioning and operation 12 2 13 3 Protection against dangerous movements 12 2 13 4 Protection against electric shock 13 2 14 Notes on particular ri...
Page 4: ... 6 2 The module does not travel through the entire stroke 27 6 3 Product opens or closes abruptly 27 6 4 Gripping force is dropping 28 7 Maintenance 29 7 1 Notes 29 7 2 Maintenance intervals 29 7 3 Lubricants Lubrication points 29 7 4 Dismantle product 30 7 5 Servicing and assembling the product 31 7 6 Screw tightening torques 31 7 7 Assembly drawing 32 8 Translation of original declaration of inc...
Page 5: ...s manual Illustrations in this manual are provided for basic understanding and may differ from the actual product design In addition to these instructions the documents listed under Applicable documents 6 are applicable 1 1 1 Presentation of Warning Labels To make risks clear the following signal words and symbols are used for safety notes DANGER Danger for persons Non observance will inevitably c...
Page 6: ... applies to the following sizes PSH 22 PSH 32 PSH 42 PSH 52 1 1 4 Variants This operating manual applies to the following variations PSH stroke 1 PSH stroke 2 PSH high temperature V HT 1 2 Warranty If the product is used as intended the warranty is valid for 24 months from the ex works delivery date under the following conditions Observe the specified maintenance and lubrication intervals Observe ...
Page 7: ... PSH PSH High temperature HT PSH 22 5510897 395510897 PSH 32 5510898 395510898 PSH 42 5510899 395510899 PSH 52 5510900 395510900 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants see catalog data sheet ID No of the seal kit Size ID number PSH PSH High temperature HT PSH 2...
Page 8: ...or industrial and industry oriented use Appropriate use of the product includes compliance with all instructions in this manual 2 2 Not intended use It is not intended use if the product is used for example as a pressing tool stamping tool lifting gear guide for tools cutting tool clamping device or a drilling tool Any utilization that exceeds or differs from the appropriate use is regarded as mis...
Page 9: ...t may be serious injuries and significant property damage All work may only be performed by qualified personnel Before working with the product the personnel must have read and understood the complete assembly and operating manual Observe the national safety regulations and rules and general safety instructions The following personal qualifications are necessary for the various activities related ...
Page 10: ... handling of the personnel Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Avoid any manner of working that may interfere with the function and operational safety of the product Use the product as intended Observe the safety notes and assembly instructions Do not expose the product to any corrosive media This does not appl...
Page 11: ...per disposal 2 13 Fundamental dangers General Observe safety distances Never deactivate safety devices Before commissioning the product take appropriate protective measures to secure the danger zone Disconnect power sources before installation modification maintenance or calibration Ensure that no residual energy remains in the system If the energy supply is connected do not move any parts by hand...
Page 12: ...y remains and secure against inadvertent reactivation Never rely solely on the response of the monitoring function to avert danger Until the installed monitors become effective it must be assumed that the drive movement is faulty with its action being dependent on the control unit and the current operating condition of the drive Perform maintenance work modifications and attachments outside the da...
Page 13: ... reaction leading to injuries The operator must ensure that all components and assembly groups are included in the local potential equalisation in accordance with the applicable regulations While paying attention to the actual conditions of the working environment the potential equalisation must be implemented by a specialist electrician according to the applicable regulations The effectiveness of...
Page 14: ...e measures to secure the danger zone WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual energy remains in the system components can move unexpectedly and cause serious injuries Before starting any work on the product Switch off the power supply and secure against restarting Make sure that no residual energy remains in the system WARNING Risk of injury...
Page 15: ...pressed air quality according to ISO 8573 1 7 4 4 Nominal operating pressure bar 6 Minimum pressure bar 3 Maximum pressure bar 8 Noise emission dB A 70 Ambient temperature C min max 5 90 High temperature version Ambient temperature C min max 5 130 More technical data is included in the catalog data sheet Whichever is the latest version ...
Page 16: ...ting manual en 389331 4 Design and description 4 1 Design 2 Finger Parallel Gripper 1 Housing 2 Compressed air main connection 3 Groove for sensors 4 Base jaw 4 2 Description 2 finger parallel gripper with long jaw stroke and dirt resistant round guidance ...
Page 17: ... of inertia of the fingers is exceeded the gripper can be damaged A jaw movement always has to be without jerks and bounce You must therefore implement sufficient reduction and or damping Observe the diagrams and information in the catalog data sheet NOTE Observe the requirements for the compressed air supply Technical Data 15 In case of compressed air loss cutting off the energy line the componen...
Page 18: ...Remove the locking screws Screw in air connections plug connections OR Screw on throttle valve in order to be able to perform sufficient throttling and or dampening Ø Screw the product to the machine system Mechanical connection 19 If necessary use appropriate connection elements adapter plates Observe the maximal tightening torque admissible screw in depth and if necessary strength class Ø Secure...
Page 19: ...on Contained in accessory pack NOTE When selecting the fastening screws observe the values prescribed by SCHUNK see following table Item Mounting PSH 22 32 42 52 Connections to the housing securing the product on the side 1 Screw M5 M6 M8 M10 Max depth of engagement from locating surface mm 10 13 15 20 Connections to the housing securing the product from above 3 Screw M5 M6 M8 M10 Max depth of eng...
Page 20: ...2 Connections to the housing securing the product on the side 1 Screw 10 32 1420 1420 5 16 18 Max depth of engagement from locating surface mm 10 9 12 5 19 Connections to the housing securing the product from above 3 Screw 10 32 1420 5 16 18 3 8 16 Max depth of engagement from locating surface mm 10 9 5 12 16 Connections to the base jaws connecting the gripper fingers 5 Screw 10 32 1420 5 16 18 5 ...
Page 21: ...owever the use of a SDV P pressure maintenance valve is recommended in this case in order to maintain the dynamic effect for some time Product variants are also offered with mechanical gripping force via springs which also ensure a minimum clamping force in the event of a pressure drop Compressed air connections 1 Main connections Hose connection A open B close 2 Hose free direct connection at the...
Page 22: ...rection connection for item numbers see Assembly drawing 32 5 3 Mounting the sensor NOTE Observe the assembly and operating manual of the sensor for mounting and connecting The product is prepared for the use of sensors For the exact type designations of suitable sensors please see catalog datasheet and Link Übersicht Sensoren For technical data for the suitable sensors see assembly and operating ...
Page 23: ...et Ø Push sensor 1 1 backwards arrow into the groove 3 towards the middle of the gripper unit until it switches Ø Secure the sensor 1 1 using the set screw Tightening torque 30 Ncm Ø Bring product into the Gripper open or Part gripped position and test the function Position Gripper closed or Part gripped O D gripping Ø Bring product in the position in which it is to be set Ø Push sensor 2 2 backwa...
Page 24: ... screws 6 until the bracket 7 can still be turned without play Ø Secure the screws 6 with Locite No 243 Ø Place control cams 9 into the oblong hole in the bracket 7 and secure to the bracket using screws 8 Ø Push T nuts 5 into the groove 12 for PSH 22 only one T nut 5 Ø Secure guide piece 10 with screw 11 to T nut 5 so that the guide piece 10 can still be pushed further into the groove 12 Ø Fasten...
Page 25: ...witches Ø Tighten screw 8 in order to fix the control cam in this position Ø Bring product into the Gripper open or Part gripped position and test the function Position Gripper closed or Part gripped O D gripping Ø Bring product in the position in which it is to be set Ø Loosen screw 8 so that the control cam 2 9 can be moved in the bracket 7 Ø Slide the control cam 2 9 to the free end of the brac...
Page 26: ...ounting kit This mounting kit is available from SCHUNK for the models below PSH 22 1 PSH 22 2 PSH 32 2 PSH 422 Ø Push the T nut 4 into the groove 8 Ø Secure bracket 2 with two screws 3 to the T nut 4 so that the bracket 2 is flush with the housing outer edge Ø Secure sensor 1 with four screws 7 to the bracket 2 Tightening torque 1 Nm Ø Excavate sensor cable to the center of the gripper Ø Secure co...
Page 27: ...e module does not travel through the entire stroke Possible cause Corrective action Dirt between the housing base jaws guidance and piston bar Cleanandlubricateproduct Maintenance 29 Pressure drops below minimum Check air supply Pneumatic connection 22 Mounting surface is not sufficiently flat Check the evenness of the mounting surface Mechanical connection 19 Components have come loose e g due to...
Page 28: ...ve action Compressed air can escape Check seals if necessary disassemble the product and replace seals Too much grease in the mechanical movement space Clean and lubricate product Pressure drops below minimum Check air supply Pneumatic connection 21 Component part defective Replace component or send it to SCHUNK for repair ...
Page 29: ... quickly at temperatures above 60 C leading to possible product damage Reduce the lubricant intervals accordingly Interval million cycles for PSH 22 52 Maintenance work 2 Treat all grease areas with lubricant Lubricants Lubrication points 29 Oil or grease bare outside steel parts Lubricants Lubrication points 29 2 Clean all parts thoroughly check for damage and wear if necessary replace seals and ...
Page 30: ...2 Ø Remove the compressed air lines Ø Disassemble product from the machine system Ø Unscrew screws 40 and 41 and lift off base jaws 5 or 6 Ø Remove the safety ring 52 Ø Pull the pinion bearing 15 out of the housing using a screw or a puller Ø Remove pinion 25 from the housing Ø Only size 22 Pull gear rack with magnet 65 out of the housing Size 32 42 52 Pull gear racks 12 or 13 out of the housing Ø...
Page 31: ...parts seals Position of the wearing parts Assembly drawing 32 Seal kit Accessories 7 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 Screw tightening torques 31 7 6 Screw tightening torques Position of the item numbers Assembly drawin...
Page 32: ...e is an example image It serves for illustration and assignment of the spare parts Variations are possible depending on size and variant Assembly drawing Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered completely not applicable for PSH 22 and 32 only for PSH 22 ...
Page 33: ... Parallel Gripper PSH pneumatic ID number 0302122 0302154 39302122 39302154 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to be installed with the provisions of the Machinery Directive 2006 42 EC is confirmed Applied harmonized standards especially EN ISO 12100 2010 Safety of machinery General principles for de...
Page 34: ...Definitions X 1 1 2 Principles of safety integration X 1 1 3 Materials and products X 1 1 4 Lighting X 1 1 5 Design of machinery to facilitate its handling X 1 1 6 Ergonomics X 1 1 7 Operating positions X 1 1 8 Seating X 1 2 Control Systems 1 2 1 Safety and reliability of control systems X 1 2 2 Control devices X 1 2 3 Starting X 1 2 4 Stopping X 1 2 4 1 Normal stop X 1 2 4 2 Operational stop X 1 ...
Page 35: ...ble guards X 1 4 2 3 Adjustable guards restricting access X 1 4 3 Special requirements for protective devices X 1 5 Risks due to other hazards 1 5 1 Electricity supply X 1 5 2 Static electricity X 1 5 3 Energy supply other than electricity X 1 5 4 Errors of fitting X 1 5 5 Extreme temperatures X 1 5 6 Fire X 1 5 7 Explosion X 1 5 8 Noise X 1 5 9 Vibrations X 1 5 10 Radiation X 1 5 11 External radi...
Page 36: ...uirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmetics or pharmaceutical products X 2 2 Portable hand held and or guided machinery X 2 2 1 Portable fixing and other impact machinery X 2 3 Machinery for working wood and material with similar physical characteristics X 3 Supplementary essential health and safety requirements to offset hazards due to the ...
