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Design and description

04.00 | GSM-R | Assembly and Operating Manual | en | 389106

17

4 Design and description

4.1 Design

Rotary gripping module with radial gripper

1

Compressed air main connection

2

DKM feed-through compact module

3

Base jaws

4

RGM gripping module

5

Rotor drive FAN

4.2 Description

Rotary gripping module with parallel gripper

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Содержание GSM-R 16

Страница 1: ...Original operating manual Assembly and Operating Manual GSM R Rotary gripping module with radial gripper...

Страница 2: ...ations for the purpose of technical improvement Document number 389106 Version 04 00 12 04 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our famil...

Страница 3: ...t intended use 8 2 3 Constructional changes 8 2 4 Spare parts 8 2 5 Gripper fingers 9 2 6 Environmental and operating conditions 9 2 7 Personnel qualification 9 2 8 Personal protective equipment 10 2...

Страница 4: ...34 8 Maintenance and care 35 8 1 Notes 35 8 2 Maintenance and care intervals 35 8 3 Grease greasing areas 36 8 4 Screw tightening torques 37 8 5 Disassembly assembly of the unit in the basic modules...

Страница 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 documen...

Страница 6: ...ntenance O D gripping AS 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 mainte...

Страница 7: ...5 5514446 GSM R 32 5514447 GSM R 40 5514448 1 4 Accessories A wide range of accessories are available for this product For information regarding which accessory articles can be used with the correspon...

Страница 8: ...complied with The product is intended for 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 i...

Страница 9: ...e span See also Environmental and operating conditions 9 Make sure that the product and the top jaws are a sufficient size for the application Ensure that maintenance and lubrication intervals are obs...

Страница 10: ...the required personal protective equipment Observe the valid safety and accident prevention regulations Wear protective gloves to guard against sharp edges and corners or rough surfaces Wear heat resi...

Страница 11: ...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 12 Disposal Handling of disposal The...

Страница 12: ...n cause serious injuries and even death Take appropriate protective measures to secure the danger zone Never step into the danger zone during operation 2 13 3 Protection against dangerous movements Un...

Страница 13: ...of the machine if this protective equipment does not function correctly 2 13 4 Protection against electric shock Possible electrostatic energy Components or assembly groups may become electrostatical...

Страница 14: ...can lead to serious injury or death Take appropriate protective measures to secure the danger zone WARNING Risk of injury due to unexpected movements If the power supply is switched on or residual ene...

Страница 15: ...force maintenance Secure the end positions of the product with SCHUNK SDV P pressure maintenance valves WARNING Danger of injury due to uncontrolled movements Due to incorrect control and incorrect op...

Страница 16: ...ing 30 Pressure medium Compressed air compressed air quality according to ISO 8573 1 7 4 4 Nominal working pressure bar 6 Min pressure bar for gripping without gripping force maintenance with gripping...

Страница 17: ...389106 17 4 Design and description 4 1 Design Rotary gripping module with radial gripper 1 Compressed air main connection 2 DKM feed through compact module 3 Base jaws 4 RGM gripping module 5 Rotor dr...

Страница 18: ...t 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...

Страница 19: ...ons OR Screw on throttle valve in order to be able to perform sufficient throttling and or dampening Screw the product to the machine system Mechanical connection 20 If necessary use appropriate conne...

Страница 20: ...Connections 5 2 1 Mechanical connection Mounting the GSM on the side and base side To ensure the function of the sensors the A2 screws from the accessory pack are to be used For process reliable moni...

Страница 21: ...side M4 8 deep M6 11 deep Mounting the Unit Mounting the unit on the base side with adapter plate similar to A B or C see Mounting the GSM at the side and on the base side The assembly of the unit can...

Страница 22: ...tches a minimum distance of 10 mm is to be observed between the units in the event of the assembly of several units next to each other Accessories 7 5 2 2 Air connections WARNING Risk of injury during...

Страница 23: ...r to OPEN position Hose free direct connection d If direct connections a d are used use the locking screws included in the accessory pack for the corresponding main connections A D If air connections...

Страница 24: ...ilable at schunk com Information on handling sensors is available at schunk com or from SCHUNK contact persons 5 3 1 Overview of sensors Designation GSM R 16 20 25 32 40 Programmable magnetic switch M...

Страница 25: ...SM R 25 37 4 28 5 23 5 GSM R 25 AS 37 4 28 5 23 5 GSM R 32 45 3 36 4 31 4 GSM R 32 AS 45 3 36 4 31 4 GSM R 40 47 7 38 8 33 8 GSM R 40 AS 47 7 38 8 33 8 5 3 4 Switch off hysteresis for magnetic switch...

Страница 26: ...ignals SGL1 and SGL2 2 Sensor MMS P right groove Monitoring gripper position 1 and gripper position 2 in the right rotating angle end position signals SGR1 and SGR2 3 Stop for MMS P Determining the cl...

Страница 27: ...tion on sensor operation contact your SCHUNK contact person or download information from our homepage Technical data for the sensors can be found in the data sheets included in the scope of delivery 5...

Страница 28: ...top but only up to the maximum projection dimension B For projection dimensions A and B see the following table Total rotation angle range When the rotating angle is set tighten the counter nut 124 Ac...

Страница 29: ...ion is described in the following chapters for S variants Replacing a shock absorber for S variants for E variants Replacing an elastomer for E variants NOTICE The permissible minimum and maximum proj...

Страница 30: ...e Adjustment range of end angle Switching range of sensor e n d a n g l e s t a r t a n g l e s t a r t a n g l e end angle Swivel range Adjustment range of start angle Adjustment range of end angle S...

Страница 31: ...ow control valves and shock absorbers must be used Setting the speed 31 and Adjustment of the shock absorber stroke 32 Please observe the information in the catalog pages 6 1 Setting the speed NOTICE...

Страница 32: ...smooth motion may also be too slow in many use cases Further settings can be made via the shock absorbers Adjustment of the shock absorber stroke 32 6 2 Adjustment of the shock absorber stroke NOTE Wh...

Страница 33: ...osition End position Target time Time T Damping Optimal shock absorber stroke 6 3 Restart after long standstill During a longer standstill no compressed air must be allowed to be present at the grippe...

Страница 34: ...nes between the product and directional control valve as short as possible Flow rate of valve is sufficiently large relative to the compressed air consumption NOTICE The throttle check valve must not...

Страница 35: ...housing with base jaws as a set NOTICE The needle rollers are suitable only for this product and cannot be replaced with needle rollers belonging to another product of the same type and size 8 2 Maint...

Страница 36: ...Item 15 Item 35 Item 85 Item 122 Mixture of Interflon Fin assembly grease for Interflon Fin Lupe EP mass ratio 1 1 Item 103 Item 11 Item 82 Item 42 Item 43 Item 44 Item 46 Item 51 Item 52 Item 53 Item...

Страница 37: ...1 3 Nm FAN 64 3 1 Nm 8 5 Disassembly assembly of the unit in the basic modules Position of the item numbers Drawings 46 Disassembly Remove the compressed air lines Turn the gripping module GSM into th...

Страница 38: ...crew out the screw 110 and pull off the piston 39 Remove the seal rings 102 from the piston Loosen the screws 112 and remove the holders 8 Take the needle rollers 15 out of the cover housing and remov...

Страница 39: ...n the piston 39 Glue the magnet into the piston Mounting orientation of the magnets item 120 41 Carefully fit the cover housing 35 with the mounted parts into the bushing 44 Screw the cover housing 35...

Страница 40: ...ance of the gripping force make sure the spring 121 is inserted in the bushing 46 between steps 12 and 13 of assembly without maintenance of the gripping force I D gripping version GSM IS Disassembly...

Страница 41: ...e item numbers Drawings 46 NOTICE If the housing 11 bearing ring 82 or bushing 44 or 46 is replaced a new set of fitting disks 111 and 112 must be ordered NOTICE The balls 142 lie loosely in the ball...

Страница 42: ...nwards into the housing DKM GSM Grease the O rings 103 and mount them into the recesses on the bushing 44 or 46 Insert the gripping module into the housing DKM GSM Match up the axial bearing seat of t...

Страница 43: ...ed as follows with the replacement Remove the compressed air lines Loosen the counter nut 124 Remove the shock absorber 121 from the unit and remove the sleeve 122 If the latter cannot be loosened fro...

Страница 44: ...d air lines Loosen the screws 101 and take the upper housing 51 off the lower housing 52 Remove the O rings 109 and the centering sleeve 108 Take the rotor 53 out of the housing 52 and pull the bearin...

Страница 45: ...the appropriate counterbores Mount the centering sleeve 108 or cylindrical pin 107 onto the upper housing 51 8 11 Servicing and assembling the module Maintenance Clean all parts thoroughly and check...

Страница 46: ...figures are example images They serve for illustration and assignment of the spare parts Variations are possible depending on size and variant 8 12 1 Assembly drawing of basic modules Assembly drawing...

Страница 47: ...and Operating Manual en 389106 47 8 12 2 Assembly drawing for the DKM and FAN modules Assembly drawing of the DKM and FAN modules Included in the seal kit Seal kit can only be ordered completely Only...

Страница 48: ...04 00 GSM R Assembly and Operating Manual en 389106 8 12 3 Assembly drawing of the GSM gripping modules Assembly drawing of the gripping modules Included in the multi level parts list of the DKM feed...

Страница 49: ...59 0303878 0303978 0303879 0303979 0303888 0303988 0303889 0303989 0304618 0304619 0304638 0304738 0304639 0304739 0304648 0304748 0304649 0304749 0304658 0304758 0304659 0304759 0304678 0304778 03046...

Страница 50: ...39 0304648 0304748 0304649 0304749 0304658 0304758 0304659 0304759 0304678 0304778 0304679 0304779 0304688 0304788 0304689 0304789 To be provided by the System Integrator for the overall machine Fulfi...

Страница 51: ...ks of uncontrolled movements X 1 4 Required characteristics of guards and protective devices 1 4 1 General requirements X 1 4 2 Special requirements for guards X 1 4 2 1 Fixed guards X 1 4 2 2 Interlo...

Страница 52: ...on from Annex 1 is to be supplemented from here forward 2 Supplementary essential health and safety requirements for certain categories of machinery X 2 1 Foodstuffs machinery and machinery for cosmet...

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