SCHUNK PZH-SF35, Assembly And Operating Manual

Page 1: ...Translation of the original manual Assembly and Operating Manual PZH SF 350 3 finger centric gripper ...

Page 2: ...lterations for the purpose of technical improvement Document number 389485 Version 02 00 05 06 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 chal...

Page 3: ...operating conditions 9 2 7 Personnel qualification 10 2 8 Personal protective equipment 10 2 9 Notes on safe operation 11 2 10 Transport 11 2 11 Malfunctions 11 2 12 Disposal 12 2 13 Fundamental dangers 12 2 13 1 Protection during handling and assembly 12 2 13 2 Protection during commissioning and operation 13 2 13 3 Protection against dangerous movements 13 2 13 4 Protection against electric shoc...

Page 4: ... not achieve the opening and closing times 27 5 6 Electric signals are not transmitted 28 6 Maintenance 29 6 1 Notes 29 6 2 Maintenance interval 29 6 3 Lubricants Lubrication points 29 6 4 Disassembly of the module 30 6 5 Servicing and assembling the product 30 6 5 1 Screw tightening torques 31 6 5 2 Installing gear racks on the pinion 31 6 6 Assembly drawing 32 7 Translation of original declarati...

Page 5: ...this 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 inevitabl...

Page 6: ...n our homepage schunk com 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 the ambient conditions and operating conditions Parts touching the workpiece and wear parts are not included in the warranty 1 3 Scope of delivery The scope of...

Page 7: ...e compatible sensors Designation Type Inductive proximity switches IN Magnetic switch MMS Exact type designation of the compatible sensors see catalog Information on handling sensors is available at schunk com or from SCHUNK contact persons For mounting the sensors mounting kits are partly necessary 1 4 2 Seal kit Contents of the sealing kit Assembly drawing 32 ID No of the seal kit Seal kit for I...

Page 8: ...ed 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 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...

Page 9: ...t 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 life span Make sure that the product is used only in the context of its defined appl...

Page 10: ...egated 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 possible dangers due to improper behaviour Service personnel of the manufacturer Due to its technical training knowledge and experience service personnel of the manufacturer is able to perform the deleg...

Page 11: ... prevention 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 and cause serious injuries and considerable material damage When handling heavy weights use lifting equipment to lift the product and transport it by appropriate means Secure the product against f...

Page 12: ...n the system If the energy supply is connected do not move any parts by hand Do not reach into the open mechanism or movement area of the product during operation 2 13 1 Protection during handling 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 appro...

Page 13: ... or material damage human access to the movement range of the machine must be restricted Limit prevent accidental access for people in this area due through technical safety measures The protective cover and protective fence must be rigid enough to withstand the maximum possible movement energy EMERGENCY STOP switches must be easily and quickly accessible Before starting up the machine or automate...

Page 14: ...tive 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 inj...

Page 15: ...ve unexpectedly and cause serious injuries Disassemble the product cautiously Make sure that no residual energy remains in the system WARNING Risk of injury from objects falling during energy supply failure Products with a mechanical gripping force maintenance can during energy supply failure still move independently in the direction specified by the mechanical gripping force maintenance Secure th...

Page 16: ...osing force 1575 Opening force 1515 Opening angle per jaw 59 7 Closing moment 180 Opening moment 180 Weight kg 20 Recommended workpiece weight kg 8 Air consumption per double stroke cm3 675 Min pressure bar 2 5 Max pressure bar 9 0 Nominal working pressure bar 6 0 Closing time s 0 5 Opening time s 0 5 Max permissible finger length mm 140 Max permitted weight per finger kg 1 5 IP rating 40 Ambient ...

Page 17: ...he mounting surface The values apply to the whole mounting surface to which the product is mounted Requirements for evenness of the mounting surface Dimensions in mm Edge length Permissible unevenness 100 0 02 100 0 05 Mounting NOTE When mounting the gripper use the fixing bores provided Fasten the gripper using the fixing bores provided ...

Page 18: ... PZH SF 350 1 6 x screw thread diameter and max depth of engagement for gripper mounting from the rear M10 30 deep 2 4 x screw thread diameter and max depth of engagement for gripper mounting from the rear M6 22 deep 3 4 x screw thread diameter and max depth of engagement for gripper mounting from the rear M8 22 deep 4 2 x cylindrical pin Ø5 M6 22 deep ...

Page 19: ... separately ID number ISO flange designation 0308093 ADF ISO 9409 1 A 125 0308094 ADF ISO 9409 1 A 160 The connection dimensions of ISO flange are contained in the catalog Item Mounting Size 1 1x ADF ISO 9409 1 A size 125 160 2 4 x screw for assembly of ISO flange on robot M10x25 ISO flanges 125 and 160 3 1 x cylindrical pin DIN 6325 10 0 m6 x 20 mm ISO flanges 125 and 160 4 4 x screw for gripper ...

Page 20: ...alog data sheet NOTE Observe the requirements for the compressed air supply Technical data 16 In case of compressed air loss cutting off the 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 the dynamic effect for some time Product variants are also offe...

Page 21: ...y before assembly and installation Make sure that no residual energy remains in the system Ø Remove the screws 104 Ø Remove the clamping ring 5 and upper bearing 101 Ø Take out the finger 4 Ø Remove the lower bearing 101 Ø Clean all parts thoroughly and check them for wear Ø The assembly is performed in the reverse order The tightening torque of the screws 104 is 1 3 Nm ...

Page 22: ...e included in 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 4 3 1 Magnetic Switch MMS 22 brown black blue load closer NOTICE Material damage due to an incorrect tightening torque If the threaded pin is tightened with an incorrect tightening torque the product may be damaged Observe a m...

Page 23: ...l it switches Ø Tighten the set screw to clamp magnetic switch 2 2 in this position in the groove 3 Ø Open the gripper and close it again to test its function Part gripped O D gripping Ø Clamp the part to be gripped Ø Push magnetic switch 2 2 into the groove 3 towards the middle of the gripper until it switches Ø Tighten the set screw to clamp magnetic switch 2 2 in this position in the groove 3 Ø...

Page 24: ...nd radius of the cable catalog Avoid contact of the proximity switches with hard objects and with chemicals in particular nitric acid chromic acid and sulphuric acid The inductive proximity switches are electronic components which can react sensitively to high frequency interference or electromagnetic fields Check to make sure that the cable is fastened and installed correctly Provide for sufficie...

Page 25: ... sit precisely on the positions of the brackets 5 in the positions to be queried Ø Push the proximity switch 3 into the clamping sleeve 6 as far as possible and unscrew it until the proximity switch 3 responds Ø Tighten the hexagon socket screw 7 until the clamping sleeve 6 can no longer be turned The hexagon socket screw 7 clamps the clamping sleeve 6 and simultaneously fastens the bracket 5 to t...

Page 26: ...posits between cover and piston Clean and if necessary re lubricate Maintenance 29 Pressure drops below minimum Check air supply Pneumatic connection 20 Mounting surface is not sufficiently flat Check the evenness of the mounting surface Mechanical connection 17 Component part defective Send product with a SCHUNK repair order or dismantle product 5 3 Product opens or closes abruptly Possible cause...

Page 27: ...the flow control couplings on the product to the maximum that the movement of the jaws occurs without bouncing and hitting Check compressed air lines Inner diameters of compressed 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 relativ...

Page 28: ...d Possible cause Corrective action Cable connected incorrectly Check circular connections and both miniature flat connections on the right seat Strands swapped Check pin allocation Bus signals should be transmitted Bus signals can not be transmitted Slip ring defective Send the product to SCHUNK with a repair order ...

Page 29: ...ing with the base jaws as a set 6 2 Maintenance interval NOTICE 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 Interval Mio cycles 5 6 3 Lubricants Lubrication points SCHUNK recommends the lubricants listed During maintenance treat all greased areas with lubricant Th...

Page 30: ...another to push out the piston chamber covers 118 WARNING Make sure you take precautions to prevent uncontrolled ejection of the piston covers Wear hearing protection Ø Remove the screws 117 piston damper 116 and piston 10 Ø Remove the gear rack 9 6 5 Servicing and assembling the product Maintenance Clean all parts thoroughly and check for damage and wear Treat all greased areas with lubricant Lub...

Page 31: ... 1 Screw tightening torques Position of the item numbers Assembly drawing 32 Item 102 104 117 127 Thread M6 M3 M4 M6 Tightening torque Nm 15 1 3 3 10 6 5 2 Installing gear racks on the pinion Observe the position of the gear racks when installing the gear racks and the pinion ...

Page 32: ...Maintenance 32 02 00 PZH SF 350 Assembly and Operating Manual en 389485 6 6 Assembly drawing Wearing part replace during maintenance Included in the seal kit Seal kit can only be ordered completely ...

Page 33: ...tion 3 finger centric gripper PZH SF 350 pneumatic ID number 0300570 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 Ri...

Page 34: ... 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 2 4 3 Emergency stop X 1 2 4 4...

Page 35: ...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 radiation X 1 5 12 Lase...

Page 36: ... safety 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 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 ...