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Maintenance

03.00 | ORG | Assembly and Operating Manual | en | 389246

7.6 Gripper design

The ORG 85 consists of three assembly groups.

No.

Assembly group ORG

Assembly group 1

Triple jaw A unit

Assembly group 2

Triple jaw B unit

Assembly group 3

Drive unit triple jaw B

Gripper design

Содержание ORG 85

Страница 1: ...Translation of the original manual Assembly and Operating Manual ORG O ring gripper...

Страница 2: ...tions for the purpose of technical improvement Document number 389246 Version 03 00 04 09 2019 en SCHUNK GmbH Co KG All rights reserved Dear Customer thank you for trusting our products and our family...

Страница 3: ...ions 10 2 7 Personnel qualification 11 2 8 Personal protective equipment 11 2 9 Notes on safe operation 12 2 10 Transport 12 2 11 Malfunctions 12 2 12 Disposal 13 2 13 Fundamental dangers 13 2 13 1 Pr...

Страница 4: ...assembly AM_1 2 52 5 3 3 External assembly AM_1 3 53 5 3 4 External assembly AM_1 4 54 5 3 5 External assembly AM_1 5 55 5 3 6 External assembly AM_1 6 55 5 4 Details of external assembly procedure R...

Страница 5: ...s Lubrication points basic lubrication 80 7 5 Screw tightening torque 80 7 6 Gripper design 81 7 7 Disassembling the gripper 82 7 7 1 Disassembling assembly group 1 Triple jaw unit A 83 7 7 2 Disassem...

Страница 6: ...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...

Страница 7: ...erve the specified maintenance and lubrication intervals Observe the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty 1 3 Scope...

Страница 8: ...55 10 45 6 0304114 2 0 d2 3 0 10 60 14 60 6 0304115 3 0 d2 4 0 15 60 24 60 6 0304116 The values given in this table are guide values and refer to seals which are mounted at a distance P from the hous...

Страница 9: ...licable guidelines must be observed and complied with The product is intended for industrial and industry oriented use The product is designed exclusively for gripping and temporarily holding workpiec...

Страница 10: ...ition open or closed in a de energized state Only exchange the gripper fingers when no residual energy remains in the product Make sure that the product and the top jaws are a sufficient size for the...

Страница 11: ...d tasks recognize and avoid possible dangers and knows the relevant standards and regulations Instructed person Instructed persons were instructed by the operator about the delegated tasks and possibl...

Страница 12: ...ention and environmental protection regulations regarding the product s application field 2 10 Transport Handling during transport Incorrect handling during transport may impair the product s safety a...

Страница 13: ...ents for recycling or proper disposal 2 13 Fundamental dangers General Observe safety distances Never deactivate safety devices Before commissioning the product take appropriate protective measures to...

Страница 14: ...ention rules Use suitable assembly and transport equipment and take precautions to prevent jamming and crushing Incorrect lifting of loads Falling loads may cause serious injuries and even death Stand...

Страница 15: ...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...

Страница 16: ...an 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 ener...

Страница 17: ...ng force maintenance While disassembling components can move unexpectedly and cause serious injuries Disassemble the product cautiously Make sure that no residual energy remains in the system WARNING...

Страница 18: ...g force N Retraction stroke mm Return force N double acting 21 0 45 0 55 0 5 0 20 0 Jaw triple B Operating principle Stroke per jaw mm Opening force N single acting 15 0 125 0 Pressure medium Compress...

Страница 19: ...or the permissible mass moment 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 reducti...

Страница 20: ...equirements for evenness of the mounting surface Dimensions in mm Edge length Permissible unevenness 100 0 02 100 0 05 Centering element Mounting bolt M6 Mounting the gripper Mount the product with th...

Страница 21: ...he energy line the components lose their dynamic effects and do not remain in a secure position However the use of a SDV P pressure maintenance valve is recommended in this case in order to maintain t...

Страница 22: ...be prepositioned on a plane parallel to the direction of movement of the triple jaws The centre axis of the seal is to be concentric with the centre axis of the O ring gripper Furthermore the seal as...

Страница 23: ...allation 03 00 ORG Assembly and Operating Manual en 389246 23 4 4 Installing gripper fingers Left Triple jaw A open and triple jaw B closed Right Triple jaw A and B closed gripper closed 1 Triple jaw...

Страница 24: ...ple jaw B are closed Compressed air connection 1 is pressurized compressed air connection 4 is not pressurized Compressed air connection 2 is not pressurized i e the Z stroke is in the upper position...

Страница 25: ...ion s A reliable assembly process is guaranteed if the safety distance dimension s is set as small as possible value range s 0 1 mm s 0 3 mm When the triple jaw B is closed the segment jaws must be jo...

Страница 26: ...r external assembly HBA Six segment jaws and six clamping jaws are required for external assembly Triple jaw A and triple jaw B are closed Compressed air connection 1 is pressurized compressed air con...

Страница 27: ...ndrical pins Connect both parts with a screw so they can be separated Screw M3 Base jaw Mounting segment jaws with clamping jaws external assembly range of inside seal diameter d1 60 mm to approx d1 1...

Страница 28: ...possible value range s 0 1 mm s 0 3 mm When the triple jaw B is closed the segment jaws must be joined to one another at a defined distance dimension t The circumferential circle of the three segment...

Страница 29: ...g jaw for internal assembly MFI SBI HBI For internal assembly three gripper fingers for internal assembly three segment jaws for internal assembly and three clamping jaws for internal assembly are req...

Страница 30: ...parated Screw M3 Base jaw Jaw triple A Screw M3 Jaw triple B Fastening of gripper fingers and segment jaws with clamping jaws for internal assembly Attach the gripper fingers to the triple jaw A with...

Страница 31: ...the triple jaw B is closed the segment jaws must be joined to one another at a defined distance dimension t The circumferential circle of the three segment jaws dimension p must be smaller than the i...

Страница 32: ...machine system moves unexpectedly Remove the energy supplies NOTE The piston rod 2 can be adjusted with max 0 8 Nm Setting the end positions Item Designation Notes 1 Set screw 2 Piston rod Adjustment...

Страница 33: ...y to counter it by screwing in the previously removed set screw 1 The stroke limitation of triple jaw A is performed by adjusting the piston rod 2 The set screw 1 must be removed before adjusting the...

Страница 34: ...be secured against unintentional turning using one of the two counter set screws 3 depending on the angle of turning it may not be possible to clamp both set screws against the base body triple jaw B...

Страница 35: ...ble sensors please see catalog datasheet and Overview of sensors 35 For technical data for the suitable sensors see assembly and operating manual and catalog datasheet The assembly and operating manua...

Страница 36: ...Assembly and installation 36 03 00 ORG Assembly and Operating Manual en 389246 4 6 2 Assembly drawing mounting kit Assembly drawing mounting kit...

Страница 37: ...A 1001272 1 Inductive proximity switch IN 30 21 5516232 2 Holding plate monitoring triple jaws A and B 22 5516233 5 Bracket 23 5516234 6 Intermediate jaw 24 1399682 1 Bracket NHS cable ORG 85 80 99416...

Страница 38: ...e jaws A or B can be monitored Distance between gripper finger and base jaw Initial commissioning of the product Intermediate jaws 23 were mounted Mount and adjust the proximity switch Subsequent asse...

Страница 39: ...the nut 81 in one of the three base bodies triple jaw A 5 Push the proximity switch into the bracket 22 By tightening a screw 80 fasten the bracket 22 in the pocket milled out of the base body triple...

Страница 40: ...sembly and Operating Manual en 389246 Z stroke monitoring A Detail A The proximity switch is only damped by the screw 83 when the Z stroke is in the end position Z stroke up compressed air connection...

Страница 41: ...fastened directly next to the Z stroke or triple jaw A monitoring to facilitate cable routing The proximity switch must be set so that the distance between sensor and cam intermediate jaw 23 is appro...

Страница 42: ...erating Manual en 389246 Step 2 Example Gripper open1 mm OPEN Proximity switch S1 is no longer damped by cam 1 1 mm high Proximity switch S2 is now damped by cam 2 0 5 mm high Proximity switch S1 Prox...

Страница 43: ...itch S1 Proximity switch S2 Step 3 Setting proximity switch The position of the proximity switch S2 on the holding plate 21 can no longer be adjusted radially outwards The proximity switch must be rel...

Страница 44: ...perating Manual en 389246 Step 4 Example Gripper openapprox 9 mm OPEN bracket rotated 180 Proximity switch S1 is not damped Proximity switch S2 is damped by cam 2 0 5 mm high Proximity switch S1 Proxi...

Страница 45: ...tchS1 Step 5 Setting the proximity switches The position of the proximity switch S2 on the holding plate 21 can no longer be adjusted radially outwards In order to monitor further Gripper OPEN positio...

Страница 46: ...r setting the proximity switches attach the top jaws to the intermediate jaws 23 The position of the top jaws on the intermediate jaws 23 can be adjusted by previously measured distances A and B 4 6 4...

Страница 47: ...jaw B single action 3 Z stroke single action Jaw triple A Jaw triple B Z Hub Pneumatic circuit diagram for ORG with four 3 2 way valves The use of four 3 2 way valves is recommended to operate the gri...

Страница 48: ...by the drive unit triple jaw A whereby proximity switch S1 only scans the CLOSED position and proximity switch S2 only scans the OPEN position The proximity switches S3 and S4 are dampened by drive un...

Страница 49: ...e way as in the pneumatics circuit diagram on page 21 Pneumatic circuit diagram 47 Please note the additional information and comments on the function diagram and the assembly procedure below the func...

Страница 50: ...external assembly AM_1 3 External assembly AM_1 3 53 The O ring gripper is moved to the shaft and positioned at the groove level The control sends back the signal K3 Assembly position has been reached...

Страница 51: ...he centre axis of the gripper Depending on the ovality of the seal there must be a sufficient safety distance dimension x between the seal and the assembly fingers NOTE It must be checked whether the...

Страница 52: ...389246 5 3 2 External assembly AM_1 2 External assembly AM_1 2 Range of inside seal diameter between d1 10 mm and d1 60 mm The gripper fingers of the gripper can be opened compressed air connections...

Страница 53: ...ened sufficiently so that a distance larger than zero dimension y is created between the widened seal shape of a hexagon and the shaft With the widened seal the gripper can then be positioned at the p...

Страница 54: ...seal diameter between d1 10 mm and d1 60 mm After the seal picked up by the gripper was moved to the position level of the seal groove of the shaft the Z stroke of triple jaw A is pulled back in the...

Страница 55: ...seal is stripped off the three assembly fingers of the triple jaw B and slides completely into the groove The assembly cycle has been completed 5 3 6 External assembly AM_1 6 For another assembly cyc...

Страница 56: ...afety distance at the transfer point dimension v between the seal and the top jaws Moreover the segment jaws must not collide in the CLOSED gripper condition i e a second safety distance dimension w m...

Страница 57: ...6 57 5 4 2 External assembly AM_2 2 External assembly AM_2 2 Range of inside seal diameter between d1 60 mm and approx d1 150 mm The triple jaws of the gripper can be opened compressed air connections...

Страница 58: ...In the OPEN gripper condition the seal must be widened sufficiently so that a distance larger than zero dimension u is created between the segment jaws and the shaft With the widened seal the gripper...

Страница 59: ...ange of inside seal diameter between d1 60 mm and approx d1 150 mm After the gripper has been moved to the position level of the seal groove of the shaft the Z stroke of triple jaw A is pulled back ax...

Страница 60: ...er is now moved backward in axial direction whereby the seal is stripped off the three assembly fingers of the triple jaw B and slides completely into the groove The assembly cycle has been completed...

Страница 61: ...ly AM_2 6 For another assembly cycle move the triple jaws A and B as well as the Z stroke into the start ing position Close triple jaws A and B as well as Z stroke toward the front Compressed air conn...

Страница 62: ...unction diagram uses four 3 2 way valves in the same way as in the pneumatics circuit diagram Pneumatic circuit diagram 47 Internal installation process Denomination No Position status on to to on a b...

Страница 63: ...orward Proximity switch S2 is now dampened by the opening of triple jaw A The control is now sent back the signal K8 moving O ring gripper axially back down to the transfer point Process step internal...

Страница 64: ...ch S5 is dampened again by moving the Z stroke forward Process step internal assembly IM_1 9 Internal assembly IM_1 9 76 The O ring gripper remains at the assembly position to assemble the seal The tr...

Страница 65: ...bers Pneumatic connection 21 5 6 1 Internal assembly IM_1 1 Distance between gripper and gasket Gasket Level transition point Internal assembly IM_1 1 Triple jaw A and triple jaw B closed The Z stroke...

Страница 66: ...n and handling 66 03 00 ORG Assembly and Operating Manual en 389246 5 6 2 Internal assembly IM_1 2 Internal assembly IM_1 2 The triple jaw A opens Triple jaw B remains closed and the Z stroke remains...

Страница 67: ...nternal assembly IM_1 3 Figure with transfer point Triple jaw A is open Triple jaw B is closed The Z stroke is forward The O ring gripper moves axially downward to the transfer point to pick up the O...

Страница 68: ...and Operating Manual en 389246 5 6 4 Internal assembly IM_1 4 Internal assembly IM_1 4 Triple jaw A can be closed The gripper fingers move radially toward the inside between the segment jaws and moul...

Страница 69: ...Left figure Right figure The seal does not rest properly against the segment jaws The gripper fingers have moved too far toward the gripper centre The seal can collide with the workpiece when enterin...

Страница 70: ...Correct redirection When the triple jaw A is closed the gripper fingers must have been moved far enough to the inside so that the seal properly encloses the segment jaws the seal is only slightly ext...

Страница 71: ...ing Manual en 389246 71 5 6 5 Internal assembly IM_1 5 Internal assembly IM_1 5 The gripper can then be moved or positioned to the position level of the seal groove of the bore The centre axis of the...

Страница 72: ...sembly IM_1 6 After the gripper was moved to the position level of the seal groove in the workpiece triple jaw B can be opened The following pointers must be observed before the triple jaw B can be op...

Страница 73: ...m must be set between segment jaw and wall of the bore Dimension m should thereby be as small as possible In addition a distance dimension n must be set between the base diameter of the groove and th...

Страница 74: ...towards the back pressurise compressed air connection 2 The gripper finger pulls axially toward the back and the seal relaxes slightly in the direction of the groove in the area of the assembly finge...

Страница 75: ...Internal assembly IM_1 8 Internal assembly IM_1 8 After the axial pulling of the Z stroke towards the back the Z stroke is directly moved forward again do not pressurise compressed air connection 2 As...

Страница 76: ...operating pressure is not reduced the as sembly fingers could be damaged or destroyed WARNING When working with gripper fingers with a longer overhang the operating pressure of triple jaw A must alwa...

Страница 77: ...n the final step the assembly fingers and the segment jaws are moved toward the inside i e the gripper triple jaw A and triple jaw B are closed compressed air connection 1 pressurised compressed air c...

Страница 78: ...w control valves are opened to the maximum extent possible Movement still has to be shock free Inner diameter of air hoses is sufficient for the gripper s air consumption Air hose between valve and gr...

Страница 79: ...nts Lubrication points basic lubrication 80 Renolit HLT2 GP303P Adhesive Adhesive from Weicon 302 41 40 45 63 64 Equivalent adhesives and activators from other manufacturers may be used 7 3 Maintenanc...

Страница 80: ...ased areas with lubricant Thinly apply lubricant with a lint free cloth Lubricant point Lubricant Metallic sliding surfaces GP303P All seals Renolit HLT 2 Bore hole at the piston Renolit HLT 2 7 5 Scr...

Страница 81: ...rating Manual en 389246 81 7 6 Gripper design The ORG 85 consists of three assembly groups No Assembly group ORG Assembly group 1 Triple jaw A unit Assembly group 2 Triple jaw B unit Assembly group 3...

Страница 82: ...nected To be able to dismantle assembly group 1 triple jaw B must be completely open The end position must therefore be set so that triple jaw B is completely open Setting the end positions 32 WARNING...

Страница 83: ...e body triple jaws A 5 toward the top from the flange 10 Detach the six cylindrical pins 61 from the flange item 10 Detach the cylindrical bushing 8 from the flange 10 Loosen the screw 44 connecting t...

Страница 84: ...screws 43 Pull the three base body triple jaws B 12 with the stroke adjustment ring 7 axially toward the top and out of the housing 1 Push three base body triple jaws B 12 with the drive units triple...

Страница 85: ...cylindrical pins 60 connecting the angle levers of triple jaw B 18 with the base jaws 16 Loosen the three screws 40 from the housing cover 2 and pull it and the piston Z stroke 3 toward the back out...

Страница 86: ...Cylindrical pin Assembly of cylindrical pins 13 All other cylindrical pins 60 connecting the base jaws 16 with the angle levers triple jaw B 18 must also be positioned in the centre The base jaws tri...

Страница 87: ...heck after assembling items 4 41 66 and 11 whether pressure pin 11 can be easily turned by hand It must be easily turned along the entire adjustment range of 12 mm The pressure pin 11 must be complete...

Страница 88: ...nance 88 03 00 ORG Assembly and Operating Manual en 389246 7 9 Assembly drawing Exploded view ORG 85 Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered compl...

Страница 89: ...ation O ring gripper ORG pneumatic ID number 0304120 The partly completed machine may not be put into operation until conformity of the machine into which the partly completed machine is to be install...

Страница 90: ...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...

Страница 91: ...ustable 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 t...

Страница 92: ...ty requirements 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...

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