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Design and description

18

10.00 | PZV | Assembly and Operating Manual | en | 389384

4 Design and description

4.1 Design

4-finger-centric-gripper

1

Housing

2

Base jaw

3

Compressed air main connection

4.2 Description

The centric gripper PZV is suitable for applications in which two or
three fingers are insufficient.

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Summary of Contents for PZV

Page 1: ...Translation of the original manual Assembly and Operating Manual PZV 4 finger centric gripper ...

Page 2: ...on 10 00 13 08 2021 en 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 challenge us We will find a solution Best regards Your SCHUNK team Customer Management Tel 49 7133 103 2503 Fax 49 7133 10...

Page 3: ...ersonnel qualification 10 2 8 Personal protective equipment 11 2 9 Notes on safe operation 11 2 10 Transport 12 2 11 Malfunctions 12 2 12 Disposal 12 2 13 Fundamental dangers 13 2 13 1 Protection during handling and assembly 13 2 13 2 Protection during commissioning and operation 14 2 13 3 Protection against dangerous movements 14 2 13 4 Protection against electric shock 15 2 14 Notes on particula...

Page 4: ...on sensor FPS 37 5 3 13 Mounting the analog position sensor APS Z80 38 6 Troubleshooting 40 6 1 Product does not move 40 6 2 Product is not executing the complete stroke 40 6 3 Product opens or closes abruptly 40 6 4 Gripping force is dropping 41 6 5 Product does not achieve the opening and closing times 41 6 6 Programmable magnetic switches not switching as desired 41 7 Maintenance 42 7 1 Notes 4...

Page 5: ...he actual product design In addition to these instructions the documents listed under 1 1 4 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 cause irreversible injury or death WARNING Dangers for persons Non observance can lead to irreversible injury an...

Page 6: ...bly and operating manuals of the accessories The documents marked with an asterisk can be downloaded on our homepage schunk com 1 1 5 Sizes This operating manual applies to the following sizes PZV 64 PZV 100 PZV 125 PZV 160 PZV 200 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...

Page 7: ...y pack for ID number PZV 64 5515459 PZV 100 5513360 PZV 125 PZV 160 5515465 PZV 200 5514249 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 1 4 1 Seal kit ID No of the seal kit Seal kit for ID number PZV 64 0303450 PZV 100 0303452 PZV 125 0303453 ...

Page 8: ...ustrial 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 misuse 2 ...

Page 9: ...l energy can be released Make sure that the product and the top jaws are a sufficient size for the application 2 6 Ambient conditions and operating conditions Required ambient conditions and operating conditions Incorrect ambient and operating conditions can make the product unsafe leading to the risk of serious injuries considerable material damage and or a significant reduction to the product s ...

Page 10: ...elated to the product Trained electrician Due to their technical training knowledge and experience trained electricians are able to work on electrical systems recognize and avoid possible dangers and know the relevant standards and regulations Qualified personnel Due to its technical training knowledge and experience qualified personnel is able to perform the delegated tasks recognize and avoid po...

Page 11: ...tting protective clothing and also wear long hair in a hairnet when dealing with moving components 2 9 Notes on safe operation Incorrect 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 pr...

Page 12: ...ior in case of malfunctions Immediately remove the product from operation and report the malfunction to the responsible departments persons Order appropriately trained personnel to rectify the malfunction Do not recommission the product until the malfunction has been rectified Test the product after a malfunction to establish whether it still functions properly and no increased risks have arisen 2...

Page 13: ...g and assembly Incorrect handling and assembly Incorrect handling and assembly may impair the product s safety and cause serious injuries and considerable material damage Have all work carried out by appropriately qualified personnel For all work secure the product against accidental operation Observe the relevant accident prevention rules Use suitable assembly and transport equipment and take pre...

Page 14: ... 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 danger zone defined by the movement range To avoid accidents and or material damage human access to the movement range ...

Page 15: ...14 Notes on particular risks DANGER Risk of fatal injury from suspended loads Falling loads can cause serious injuries and even death Stand clear of suspended loads and do not step within their swiveling range Never move loads without supervision Do not leave suspended loads unattended Wear suitable protective equipment WARNING Risk of injury from objects falling and being ejected Falling and ejec...

Page 16: ...njury could occur during the base jaw procedure and when breaking or loosening the gripper fingers Wear suitable protective equipment Do not reach into the open mechanism or the movement area of the product WARNING Risk of injury from sharp edges and corners Sharp edges and corners can cause cuts Use suitable protective equipment ...

Page 17: ...only be operated at a maximum of 5 bar More technical data is included in the catalog data sheet Whichever is the latest version Ambient conditions and operating conditions Designation PZV Ambient temperature C min max 5 90 Protection class IP 40 Noise emission dB A 70 For use in dirty ambient conditions e g sprayed water vapors abrasion or processing dust SCHUNK offers corresponding product optio...

Page 18: ...rating Manual en 389384 4 Design and description 4 1 Design 4 finger centric gripper 1 Housing 2 Base jaw 3 Compressed air main connection 4 2 Description The centric gripper PZV is suitable for applications in which two or three fingers are insufficient ...

Page 19: ... 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 1 Check the evenness of the mounting surface 5 2 1 20 2 Only open the required air connections main connection or direct connection 5 2 2 23 3 Connect the product via the hose free direct connection Use ...

Page 20: ...ripper fingers to the base jaws 5 2 1 20 Use centering sleeves from the enclosed accessory pack 7 If necessary fit a pressure piece for spring supported positioning of the workpiece against a stop 5 2 1 1 22 8 Connect the sensor see assembly and operating manual of the sensor 9 Mount the sensor 5 3 24 5 2 Connections 5 2 1 Mechanical connection Evenness of the mounting surface The values apply to ...

Page 21: ...ousing and on the base jaws Assembly options Item 64 100 125 160 200 Fastening the product 1 Mounting screw 4x M5 M6 M8 M8 M8 2 Fitting bore for cylindrical pins mm Ø4H7 Ø5H7 Ø6H7 Ø6H7 Ø8H7 Possible recess in the adapter plate A Max recess mm Ø40 Ø70 Ø85 Ø115 Ø150 Mounting the gripper fingers 4 Mounting screw 2x M3 M5 M6 M6 M10 Max depth of engagement from locating surface mm 8 10 14 13 17 3 Cente...

Page 22: ...ly out in an uncontrolled fashion and cause contusions During assembly or disassembly be especially careful with the springs When mounting the gripper from the side of the gripper fingers the assembly of the pressure piece must be done after the mounting of the gripper Mounting the pressure piece is described in the insert Installation instructions pressure piece which is included in the pressure ...

Page 23: ...ct variants are also offered with mechanical gripping force via springs which also ensure a minimum clamping force in the event of a pressure drop Air connections 1 Main connections Hose connection A open B close 2 Hose free direct connection a open b close 3 Air purge connection Hose free direct connection 4 Product 5 O ring 6 Attachment Thread diameter of the air connections Item Connection PZV ...

Page 24: ...the scope of delivery for the sensors and are available at schunk com Information on handling sensors is available at schunk com or from SCHUNK contact persons 5 3 1 Overview of sensors Designation PZV 64 100 125 160 200 Magnetic switch MMS 22 X X X X X Programmable magnetic switch MMS 22 PI1 X X X X X Programmable magnetic switch MMS 22 PI2 X X X X X Programmable magnetic switch MMS P 22 X X X X ...

Page 25: ...e l1 mm 64 26 8 100 29 2 125 31 0 160 41 4 200 43 6 NOTE The magnetic switch MMS 22 PI1 can be adjusted and taught in two ways Standard mode allows for quick installation on the T nut preset by SCHUNK in the groove or the defined setting dimension l1 In Optimal Mode the sensor identifies the optimal position in the groove itself SCHUNK recommends Optimal Mode for setting the sensors Further inform...

Page 26: ...jaw X 10 mm 10 of the nominal stroke per jaw Example Product with 7 mm nominal stroke per jaw 7 mm 20 1 4 mm 5 3 4 Turn control cam Turn control cam example control cam for inductive monitoring Depending on the jaw stroke it may be necessary to change the alignment of the control cam for the sensors IN 80 and RMS 80 In the image the installation situation A shows the control cam in the delivery st...

Page 27: ...t Before attaching the sensor remove the sealing bolts from the bracket Before adjusting the control cam unscrew the set screw from the side cover Position Gripper open or Part gripped I D gripping 1 Slide the sensor 1 1 into the bracket 2 until it stops 2 Tighten the screw 3 on the bracket 2 Tightening torque 0 2 Nm 3 Open gripper or grip part 4 Unfasten the screw 4 5 Turn the screw 5 to adjust t...

Page 28: ...ide the sensor 2 1 into the bracket 2 until it stops 2 Tighten the screw 3 on the bracket 2 Tightening torque 0 2 Nm 3 Close gripper or grip part 4 Unfasten the screw 4 5 Turn the screw 5 to adjust the position of the control cam 6 Slide control cam 6 outwards until the sensor 2 1 no longer responds Move the control cam 6 back towards the inside until the sensor 2 1 begins to switch 6 Tighten scre...

Page 29: ...switches 5 Secure the sensor 1 1 using the set screw 4 Tightening torque 10 Ncm 6 Bring product into the Gripper open or Part gripped position and test the function Position Gripper closed or Part gripped O D gripping 1 Bring product in the position in which it is to be set 2 If necessary remove T nut 3 3 Turn the sensor 2 1 into the groove 2 OR Slide sensor 2 1 into the groove 2 in the direction ...

Page 30: ...he maximal tightening torque NOTE If there is no T nut available slide the sensor according to dimension I1 into the groove 2 5 3 2 25 1 Turn the sensor 1 into the groove 2 OR Slide the sensor 1 into the groove 2 until the sensor 1 stops at the T nut 3 2 Secure the sensor 1 using the set screw 4 Tightening torque 10 Ncm 3 Adjust sensor 1 see sensor assembly and operating manual ...

Page 31: ... available slide the sensor according to dimension I1 into the groove 2 5 3 2 25 1 Turn the sensor 1 into the groove 2 OR Slide the sensor 1 into the groove 2 until the sensor 1 stops at the T nut 3 2 Secure the sensor 1 using the set screw 4 Tightening torque 10 Ncm 3 Adjust sensor 1 see sensor assembly and operating manual 31 10 00 PZV Assembly and Operating Manual en 389384 ...

Page 32: ...nsion l1 In Optimal Mode the sensor identifies the optimal position in the groove itself SCHUNK recommends Optimal Mode for setting the sensors Setting the sensor in Optimum mode 1 Put product in the position in which it is to be set 2 Hold teaching tool to the sensor 1 1 until the sensor flashes 3 Slide sensor 1 1 into the groove 2 until the sensor 1 flashes rapidly The optimum position is displa...

Page 33: ... according to dimension I1 into the groove 2 5 3 2 25 5 3 10 Mounting programmable magnetic switch MMS IOL CAUTION Risk of damage to the sensor during assembly Observe the maximal tightening torque NOTE If there is no T nut available slide the sensor according to dimension I1 into the groove 2 see following table 1 Turn the sensor 1 into the groove 2 OR Slide the sensor 1 into the groove 2 until t...

Page 34: ...roduct to front edge of the sensor Size 64 During the monitoring process the first and last 15 of the nominal stroke will not produce a change in the analog signal It is therefore not possible to monitor the end positions Should you have questions do not hesitate to contact SCHUNK Size Stroke 100 15 64 4 mm 0 6 mm Analog signal V Stroke mm Signal Real Signal Optimal ...

Page 35: ...fore attaching the sensor remove the sealing bolts from the bracket Before adjusting the control cam unscrew the set screw from the side cover Position Gripper open or Part gripped I D gripping 1 Slide the sensor 1 1 into the bracket 2 until it stops 2 Tighten the screw 3 on the bracket 2 Tightening torque 0 2 Nm 3 Open gripper or grip part 4 Unfasten the screw 4 5 Turn the screw 5 to adjust the p...

Page 36: ...ide the sensor 2 1 into the bracket 2 until it stops 2 Tighten the screw 3 on the bracket 2 Tightening torque 0 2 Nm 3 Close gripper or grip part 4 Unfasten the screw 4 5 Turn the screw 5 to adjust the position of the control cam 6 Slide control cam 6 outwards until the sensor 2 1 no longer responds Move the control cam 6 back towards the inside until the sensor 2 1 begins to switch 6 Tighten scre...

Page 37: ...m the side cover 1 Move product to the gripper open position 2 Loosen screw 4 and remove control cam 6 for the inductive monitoring from the base jaw 3 Remove screw 5 from the base jaw 4 Slide control cam 7 from the mounting kit with the recess at the front into the base jaw 5 Screw the control cam 7 to the base jaw using the screw 8 6 Slide spacer shim 9 into the bracket 2 to the stop 7 Slide the...

Page 38: ...t contact the housing of the gripper During the monitoring process the first 8 of the nominal stroke will not produce a change in the analog signal With O D gripping the Gripper closed position and with I D gripping the Gripper opened position cannot be queried Should you have questions do not hesitate to contact SCHUNK Actual signal Optimum signal Analog signal V Stroke mm Analog signal on O D gr...

Page 39: ... or 638 5 Slide control cam 6 into the base jaw to the stop Ensure that the higher front side of the control cam 6 is pointing outwards 6 IMPORTANT The control cam 6 must no longer move after it is screwed on Screw the control cam 6 to the base jaw using the screw 5 Secure the screw 5 with medium strength locking liquid 7 Slide the sensor 1 to the stop into the bracket 2 8 Tighten the screw 3 on t...

Page 40: ...ible cause Corrective action Dirt deposits between cover and piston Clean and if necessary re lubricate Dirt deposits between basic jaws and guidance Disassemble and clean the product Pressure drops below minimum Check air supply 5 2 2 23 Mounting surface is not sufficiently flat Check the evenness of the mounting surface 5 2 1 20 Component part defective Replace component or send it to SCHUNK for...

Page 41: ...air lines are of sufficient size in relation to compressed air consumption Keep compressed air lines between the product and directional control valve as short as possible Flow rate of valve is sufficiently large relative to the compressed air consumption IMPORTANT The throttle check valve must not be removed even if the product has not reached the opening and closing times If despite optimum air ...

Page 42: ...ith the base jaws as a set 7 2 Maintenance intervals CAUTION Material damage due to hardening lubricants Lubricants harden more quickly at temperatures above 60 C leading to possible product damage Reduce the lubricant intervals accordingly Maintenance and lubrication interval Interval million cycles for PZV 64 200 Maintenance work 2 Clean all parts thoroughly check for damage and wear if necessar...

Page 43: ...ous 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 1 Remove compressed air line 2 CAUTION In the case of the version with the pressure piece the pressure piece is spring loaded Loosen carefully the set screws on the pressure piece and remove the pressure peice 3 Undo the screws 47 an...

Page 44: ...bly Observe the following Unless otherwise specified secure all screws and nuts with Loctite no 243 and tighten with the appropriate tightening torque 7 4 3 44 7 4 3 Screw tightening torques Position of the item numbers 7 5 45 Type PZV 64 PZV 100 PZV 125 PZV 160 PZV 200 Item 40 10 Nm 20 Nm 49 Nm 60 Nm 140 Nm Item 41 0 8 Nm 1 3 Nm 2 1 Nm 10 Nm 24 Nm ...

Page 45: ...nce Included in the seal kit Seal kit can only be ordered completely 2 bei Size 64 und 100 3 ab Size 125 4 ab Size 160 5 Air purge connection 6 Positions are adapted to each other and can not be replaced by the customer 45 10 00 PZV Assembly and Operating Manual en 389384 ...

Page 46: ...on 4 finger centric gripper PZV pneumatic ID number 0304000 0304005 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 design Ris...

Page 47: ...terials 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 2 4 3 Emergency stop X 1 2 4 4 Assembly of machinery X 1 2 5 Se...

Page 48: ...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 49: ...oodstuffs 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 mobility of machinery X 4 Supplementary essential hea...

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Page 52: ...G Clamping and gripping technology Bahnhofstr 106 134 D 74348 Lauffen Neckar Tel 49 7133 103 0 Fax 49 7133 103 2399 info de schunk com schunk com Folgen Sie uns I Follow us 08 2021 2021 SCHUNK GmbH Co KG 10 00 PZV Assembly and Operating Manual en 389384 ...

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