Hiwin XEG Series, Руководство пользователя

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4.1 Example of Model Selection
4.
Process for Model Selection
If the weight of gripped workpiece is 0.3kg, distance of gripping point is 35mm, gripping speed is 5mm/s and
pitch moment (Mp) of a static load f =10 (N) is applied on the gripping point. What is the model to be selected?
According to Section 4-2, the recommended gripping
force to be selected shall be 10~20 times of workpiece
weight. Therefore, the recommended gripping force will be
over 58.8(N).
(F=0.3kg
×
20
×
9.8 m⁄s
2
=58.8N)
If the model of XEG-32 electric gripper is selected, from
both of the cross point of gripping distance L=35mm and
gripping force 100%, the gripping force will all be 118N.
According to the cross point of gripping point L=35 and
overhang H=0, the usage range of gripping force 100% can
be acquired.
According to the cross point of gripping force 100%
and gripping speed 5 mm/s, the satisfaction condition of
gripping speed can be acquired.
•
Process for Model Selection
•
Step 1: Confirm gripping force (Section 4-2, 4-3)
•
Step 2: Confirm gripping point & overhang (Section 4-4)
•
Step 3: Confirm gripping speed (Section 4-5)
1.Confirm
gripping force
3.Confirm
gripping speed
4.Confirm
allowable
external load
2.Confirm
gripping point
& overhang
0
20
40
60
80
100
120
140
160
10 20 30 40 50 60 70 80 90
夾
持
力
(N
)
夾持點
L (mm)
夾持力
:100%
夾持力
:70%
夾持力
:40%
0
20
40
60
80
100
120
140
160
10 20 30 40 50 60 70 80 90
G
ri
pp
in
g
fo
rc
e (
N
)
Gripping point L(mm)
Gripping force: 100% Gripping force: 70%
Gripping force: 40%
0
20
40
60
80
100
0 20 40 60 80 100
外懸臂
H(mm)
夾持點 L
(mm)
夾持
力10
0%
夾持
力70
%
XEG-32
夾持
力40
%
0
20
40
60
80
100
0 20 40 60 80 100
モーメントアーム長
H(mm)
把持点
L
(mm)
把持力
100%
把持力
70%
XEG-32
把持力
40%
0
20
40
60
80
100
0 20 40 60 80 100
XEG-32
Overhang H(mm)
Gripping point L(mm)
Gripping
force
40%
Gripping
force
70%
Gripping
force
100%
30
40
90
100
110
0 5 10 15 20 25
XEG-16
70
80
50
60
把持力と把持速度の実現可能領域
把持力
(%)
把持力
(%)
把持速度
(mm/s)
把持速度 (mm/s)
XEG-32,XEG-64
30
40
90
100
110
0 5 10 15 20 25
70
80
50
60
30
40
90
100
110
0 5 10 15 20 25
XEG-16
70
80
50
60
Gripping force and speed range
把持力と把持速度の実現可能領域
30
40
90
100
110
0 5 10 15 20 25
XEG-16
70
80
50
60
夾持力與夾持速度臨界範圍
夾持力
(%)
夾持力
(%)
夾持速度
(mm/s)
夾持速度
(mm/s)
XEG-32,XEG-64
30
40
90
100
110
0 5 10 15 20 25
70
80
50
60
夾持力與夾持速度臨界範圍
Gripping force and speed range
XEG-32,XEG-64
30
40
90
100
110
0 5 10 15 20 25
70
80
50
60
Gripping Force (%)
Gripping Force (%)
Gripping speed (mm/s)
Gripping speed (mm/s)
Gripping force and speed range
C02UE03-2007
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