gripper robot systems

GRIPPER ROBOT

SYSTEMS

www.dmtec.net

GANTRY SYSTEM

GRIPPER & SWIVEL SYSTEM

APPLICATION

H 40 / 15 H 52 / 20 H 62 / 20 H 72 / 30

2PG 2PG2 SBG D2PG2 3PG D3PG

PFS PAS PSG FS PLE OVL

공장자동화설비분야를 이끌어가는

(주)디엠테크놀러지

도전하는 사람들의 최고 기술, 최고 제품

Gripper System & Swivel UnitLightweight and compact type, Quality and durability improvement, Always in stock

Heavy Duty Modular Ass’yHeavy load, moment for high speed

2

X-Z SYSTEMX

2-AXIS I-TYPE

X-Y SYSTEM

2-AXIS H-TYPE

X-Y-Z SYSTEM

3-AXIS K-TYPE

2X-Z SYSTEM

3-AXIS H-TYPE

High Speed / High Accracy / Long Life Time

Since 2000

Gantry Robot Module & SystemVarious gantry robot system model by stanardization

Gantry ModuleFor long stroke application, a variety of gantry module configurations

3

Positioning Systems

AP POSITION SYSTEM

Type Dynamic Force(N) Max.Speed(m/s) Max.Length(m/m)

AP60 1,100 6,000AP80 1,700 6,000

AP110 2,200 6,000AP166 3,000 5,000


AP80R.P 1,700 3 5,000AP110R.P 2,000 3 5,000AP166R.P 3,000 3 5,000

APR.P-RACK & PINION POSITION SYSTEM


AP60BZ 1,100 3 4,000AP80BZ 1,700 4 5,000

AP110BZ 2,200 6 5,000

APBZ-UP/DOWN BELT DRIVE POSITION SYSTEM


AP60C 1,100 6 4,000AP80C 1,500 8 5,000

APC-BELT DRIVE POSITION SYSTEM


AP60B 1,100 5 4,000AP80B 1,700 6 5,000

AP110B 2,200 8 5,000AP166B 3,000 8 5,000

APB-BELT DRIVE POSITION SYSTEM

4

Gantry Systems

2-AXIS I-TYPE LINEAR MODULES

Type Load Capacity Repeatability

2GI 20 20kg ± 0.12GI 20A 20kg ± 0.12GI 40 40kg ± 0.1

2GI 40A 40kg ± 0.12GI 60 60kg ± 0.1

2GI 100 100kg ± 0.12GI 130 130kg ± 0.2

2GI 130A 130kg ± 0.22GI 200 200kg ± 0.22GI 250 250kg ± 0.2


3GH 20 20kg ± 0.2

3GH 50 50kg ± 0.2

3GH 100 100kg ± 0.3

3-AXIS H-TYPE LINEAR MODULES


3GK 15 15kg ± 0.2

3GK 30 30kg ± 0.2

3GK 60 60kg ± 0.2

3-AXIS K-TYPE LINEAR MODULES


2GH 40 40kg ± 0.12GH 60 60kg ± 0.1

2GH 100 100kg ± 0.12GH 150 150kg ± 0.22GH 200 200kg ± 0.2

2-AXIS H-TYPE LINEAR MODULES

5

Heavy Duty Modular

H 40 / 15

H 52 / 20

H 62 / 20

H 72 / 30

Track Motion

6

Gripping Systems

2-FINGER PARALLEL GRIPPERS

2-FINGER ANGLE GRIPPERS


Type Overall-stroke Gripping force at 6 bars2PG 050 8mm 100N2PG 064 12mm 220N2PG 080 16mm 360N2PG 100 20mm 550N2PG 125 26mm 800N2PG 160 32mm 1200N2PG 200 40mm 1700N

2PG 200-8ST 16mm 3800N2PG 200-25ST 50mm 1873N

2PG 300 70mm 4800N2PG 160AS 32mm 1700N2PG 200AS 50mm 3200N

Type Overall-stroke Gripping force at 6 bars2AG 025 40° ± 2° 217N2AG 040 40° ± 2° 584N2AG 060 40° ± 2° 1290N2AG 080 40° ± 2° 2490N2AG 100 40° ± 2° 3955N

Type Overall-stroke Gripping force at 6 bars2PG2 080 16mm 666N2PG2 100 20mm 1200N2PG2 125 26mm 2060N2PG2 160 32mm 4000N

2PG2 160AS 32mm 4800N2PG2 200 40mm 8000N

Type Overall-stroke Gripping force at 6 bars2PGS 064 12mm 130N2PGS 080 16mm 250N2PGS 100 20mm 430N2PGS 125 26mm 820N


7

Gripping Systems

2-FINGER ANGULAR GRIPPERS

Type Opening angle Gripping force at 6 bars2RG 020 180° ± 2° 60N2RG 035 180° ± 2° 360N2RG 040 180° ± 2° 520N2RG 050 180° ± 2° 1300N

Type Overall-stroke Gripping force at 6 barsD2PG2 100 20mm 1200ND2PG2 125 26mm 2060ND2PG2 200 60mm 6000N

2-FINGER DOUBLE GRIPPERS

Type Overall-stroke Gripping force at 6 barsPLE 32-50 100mm 800N

PLE 32-100 200mm 800NPLE 50-50 100mm 1900N

PLE 50-100 200mm 1900NPLE 63-100 200mm 3100N

2-FINGER LONG GRIPPERS

Type Overall-stroke Gripping force at 6 bars2PGL 22-30 60mm 320N2PGL 32-35 70mm 750N2PGL 42-50 100mm 1170N2PGL 52-65 130mm 1760N

2-FINGER LONG GRIPPERS

8

3-FINGER CENTRIC GRIPPERS

Type Overall-stroke Gripping force at 6 bars3PG 050 8mm 260N3PG 064 12mm 580N3PG 080 16mm 1000N3PG 100 20mm 1800N3PG 125 26mm 3100N3PG 160 32mm 6000N

3PG 080-10ST 20mm 1000N3PG 100-12ST 24mm 1800N3PG 125-3ST 6mm 5900N3PG 160-6ST 12mm 11000N

3PG 200-35ST 70mm 8000N

3-FINGER CENTRIC DOUBLE GRIPPERS

Type Overall-stroke Gripping force at 6 barsD3PG 100 20mm 1800ND3PG 125 26mm 3100ND3PG 160 32mm 6000N

3-FINGER CENTRIC GRIPPERS WITH HOLE

Type Overall-stroke Gripping force at 6 bars

3PGH 100 16mm 1800N

3PGH 160 26mm 4500N

3-FINGER CENTRIC GRIPPERS

Type Overall-stroke Gripping force at 6 bars3PGS 064 12mm 410N3PGS 080 16mm 760N3PGS 100 20mm 1700N3PGS 125 26mm 3000N

9

Gripping Systems

FLAT SWIVEL UNIT

Type Swivel angle Torque at 6 barsPFS25E

0~180°0~90°~180°

3NmPFS25E-4PFS34E

12NmPFS34E-4PFS40E

22NmPFS40E-4PFS50E

45NmPFS50E-4PFS63E 115Nm

Type Swivel angle Torque at 6 barsPAS25E-64

0~180°

3NmPAS34E-80 12Nm

PAS40E-100 22NmPAS50E-125 45Nm

SWIVEL & GRIPPER UNIT

Type Swivel angle Torque at 6 barsPAS25E

0~180°

3NmPAS34E 12NmPAS40E 22NmPAS50E 45Nm

ANGLE SWIVEL UNIT

Type Swivel angle Torque at 6 bars

SFS 22D 0~180°0~90°~180°

1.5Nm

SFS 34D 6Nm

SINGLE SWIVEL UNIT

10

90° SWIVEL UNIT


ROS 025

0~90°

1Nm

ROS 040 5Nm

ROS 050 8Nm

Type Max. comp.X-axis

Max. comp.Y-axis

Max. comp.Z-axis

OVL 142 ± 6mm ± 6mm ± 6mm

OVERLOAD PROTECTION


FS 50 0~90°0~180°

18.7Nm

FS 63 55Nm

FINGER SWIVELS

Type Swivel angle Torque at 6 barsSBG050-D2PG2 100

0~180°0~90°~180°

6kg x 2SBG050-D3PG 100 9.5kg x 2

SBG060-D2PG2 125 10.3kg x 2SBG060-D3PG 125 15.5kg x 2

BEVEL GEAR UNIT FOR SWIVELS

11

Type Allowable moment Payload

DCT-20 150Nm 20kg

DCT-60 450Nm 60kg

DTC-100 750Nm 100kg

DTC-150 1000Nm 150kg

TOOL CHANGER

Type Moving Displacement Workpiece

WeightR1 B R2

3AF25

0°~360° ± 100° 0°~360°

25kg

3AF50 50kg

3AF100 100kg

3D Complicated Loading / Unloading System 3-Degree of freedom realization and circular interpolation

(Gas cutting, Laser cutting, Arc welding etc.) Essential requirement of 3-axis robot miniaturization

R1-Axis

R2-AxisB-Axis

Gripping Systems

12

2FI

NGER

2PG 050 2PG 064 2PG 080 2PG 100 2PG 125 2PG 160 2PG 2002×4mm / 100N 2×6mm / 220N 2×8mm / 360N 2×10mm / 550N 2×13mm / 800N 2×16mm / 1200N 2×20mm / 1700N

2-Finger-Parallel-Grippers Dynamic MotionT e c h n o l o g y

13

Type Stroke per finger

*Gripping force at 6 bars

*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass

Mass moment of inertia

Repeat ability

Max. Finger length

2PG050 4mm 100N 0.5kg 5cm3 0.02s 0.02s 0.1kg 0.5kg cm3 0.01mm 50mm

* Gripping force = arithmetic sum of the individual forces occurring at the fingers, distance “P” at 6 bars.


2-Finger-Parallel-Grippers

2-Finger-Parallel-Gripper 2PG 050

14

2FI

NGER



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG064 6mm 220N 1.2kg 10cm3 0.02s 0.02s 0.22kg 1.2kg cm3 0.01mm 64mm





Dynamic MotionT e c h n o l o g y

15



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG080 8mm 360N 1.8kg 20cm3 0.03s 0.03s 0.46kg 2kg cm3 0.01mm 80mm





16



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length



2PG 050 2PG 064 2PG 080 2PG 100 2PG 125 2PG 160 2PG2 002×4mm / 100N 2×6mm / 220N 2×8mm / 360N 2×10mm / 550N 2×13mm / 800N 2×16mm / 1200N 2×20mm / 1700N



2FI

NGER


17



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






18





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


19





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




20

2FI

NGER

2PG200-8ST 2PG200-25ST 2PG300 2PG160AS 2PG200AS2×8mm / 3800N 2×25mm / 1873N 2×35mm / 4800N 2×16mm / 1700N 2×25mm / 3200N




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG200-8 8mm 3800N 19kg 306cm3 0.5s 0.5s 4.78kg 230kg cm3 0.04mm 200mm


2-Finger-Parallel-Gripper 2PG 200-8ST


21





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG200-25 25mm 1873N 9.5kg 306cm3 0.9s 0.9s 4.78kg 230kg cm3 0.04mm 200mm


2-Finger-Parallel-Gripper 2PG 200-25ST

22

2FI

NGER



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG300 35mm 4800N 24kg 810cm3 0.7s 0.7s 12.1kg 1110kg cm3 0.04mm 300mm






23





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG160AS 16mm 1700N 6kg 140cm3 0.3s 0.2s 3.12kg 64kg cm3 0.02mm 160mm


2-Finger-Parallel-Gripper 2PG 160AS

24

2FI

NGER





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG200AS 25mm 3200N 8.5kg 306cm3 0.7s 0.3s 5.9kg 290kg cm3 0.02mm 200mm


2-Finger-Parallel-Gripper 2PG 200AS


25

2PGS 064 2PGS 080 2PGS 100 2PGS 1252×6mm / 130N 2×8mm / 250N 2×10mm / 430N 2×13mm / 820N


26

2FI

NGER



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PGS 064 6mm 130N 0.65kg 10cm3 0.05s 0.05s 0.45kg 2kg cm2 0.03mm 65mm




2-Finger-Parallel-Gripper 2PGS 064


27




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length





28

2FI

NGER





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PGS 100 10mm 430N 2kg 40cm3 0.05s 0.05s 1.3kg 20kg cm2 0.03mm 100mm




29





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PGS 125 13mm 820N 4kg 70cm3 0.1s 0.1s 2.3kg 50kg cm2 0.03mm 125mm



30

2FI

NGER

2PG2 080 2PG2 100 2PG2 125 2PG2160 2PG2 160AS 2PG2 2002×8mm / 666N 2×10mm / 1200N 2×13mm / 2060N 2×16mm / 4000N 2×16mm / 4800N 2×20mm / 8000N

2-Finger-Parallel-Grippers Dynamic MotionT e c h n o l o g y

31

2PG2 080 2PG2 100 2PG2 125 2PG2 160 2PG2 160AS 2PG2 2002×8mm / 666N 2×10mm / 1200N 2×13mm / 2060N 2×16mm / 4000N 2×16mm / 4800N 2×20mm / 8000N




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG2 080 8mm 666N 3.3kg 60cm3 0.05s 0.06s 0.72kg 19kg cm3 0.01mm 80mm


2-Finger-Parallel-Gripper 2PG2 080

32

2FI

NGER




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG2 100 100mm 1200N 6kg 120cm3 0.07s 0.08s 1.2kg 41kg cm3 0.01mm 100mm





33





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG2 125 13mm 2060N 10.3kg 230cm3 0.17s 0.17s 2.04kg 97kg cm3 0.05mm 125mm



34





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


35





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PG2 160AS 16mm 4800N 20kg 520cm3 0.4s 0.4s 5.9kg 253kg cm3 0.05mm 160mm


2-Finger-Parallel-Gripper 2PG2 160AS

36





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


37

2AG 025 2AG 040 2AG 060 2AG 080 2AG 1002×20° / 217N 2×20° / 584N 2×20° / 1290N 2×20° / 2490N 2×20° / 3955N

2-Finger-Angular-Grippers

38


2-Finger-Angle-Grippers

TypeOpening angle per

finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2AG 025 20° 217N 1.1kg 7.5cm3 0.04s 0.02s 0.3kg 1.2kg cm3 0.05mm 40mm


2-Finger-Angle-Grippers 2AG 025

2FI

NGER


39




finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2AG 040 20° 584N 2.9kg 22cm3 0.1s 0.05s 0.74kg 7.5kg cm3 0.05mm 60mm



40




finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2AG 060 20° 1290N 6.4kg 65cm3 0.3s 0.2s 1.8kg 25kg cm3 0.05mm 80mm



2FI

NGER


41




finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




42




finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


43

2RG 020 2RG 035 2RG 040 2RG 0502×90° / 60N 2×90° / 360N 2×90° / 520N 2×90° / 1300N


44

2RG 020 2RG 035 2RG 040 2RG 0502×90° / 60N 2×90° / 360N 2×90° / 520N 2×90° / 1300N



finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2RG 020 90° 60N 0.3kg 9cm3 0.4s 0.4s 0.22kg 0.2kg cm2 0.1mm 60mm


2-Finger-Angular-Gripper 2RG 020

2FI

NGER


45

2RG 020 2RG 035 2RG 040 2RG 0502×90° / 60N 2×90° / 360N 2×90° / 520N 2×90° / 1300N



finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2RG 035 90° 360N 1.8kg 43cm3 0.7s 0.7s 0.9kg 4kg cm2 0.1mm 130mm



46

2RG 020 2RG 035 2RG 040 2RG 0502×90° / 60N 2×90° / 360N 2×90° / 520N 2×90° / 1300N



finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


47

2RG 020 2RG 035 2RG 040 2RG 0502×90° / 60N 2×90° / 360N 2×90° / 520N 2×90° / 1300N



finger


*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




48

2PGL22-30 2PGL32-35 2PGL42-50 2PGL52-652×30mm / 320N 2×35mm / 750N 2×50mm / 1170N 2×65mm / 1760N

2-Finger-Long-Grippers

2FI

NGER


49





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PGL22-30 30mm 320N 1.6kg 36cm3 0.1s 0.1s 1kg 25kg cm2 0.1mm 140mm


2-Finger-Long-Gripper 2PGL22-30

50




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length





2FI

NGER


51




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

2PGL42-50 50mm 1170N 4kg 255cm3 0.25s 0.25s 4.7kg 385kg cm2 0.1mm 230mm




52





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length




2FI

NGER


53

PLE32-50 PLE32-100 PLE50-50 PLE50-100 PLE63-1002×50mm / 800N 2×100mm / 800N 2×50mm / 1900N 2×100mm / 1900N 2×100mm / 3100N


54



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

PLE32-50 50mm 800N 4kg 160cm3 0.5s 0.5s 3.7kg 124kg cm3 0.04mm 100mm




2-Finger-Long-Grippers PLE32-50

2FI

NGER


55



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

PLE32-100 100mm 800N 4kg 320cm3 0.8s 0.8s 6.5kg 124kg cm3 0.04mm 100mm





56



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

PLE50-50 50mm 1900N 9.5kg 390cm3 0.5s 0.5s 8.5kg 433kg cm3 0.04mm 200mm





2FI

NGER


57



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

PLE50-100 100mm 1900N 9.5kg 780cm3 0.9s 0.9s 10.9kg 720kg cm3 0.04mm 200mm





58



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

PLE63-100 100mm 3100N 15.5kg 1200cm3 0.9s 0.9s 20kg 1450kg cm3 0.04mm 250mm





2FI

NGER


59

D2PG2 100 D2PG2 125 D2PG2 2002×10mm / 1200N 2×13mm / 2060N 2×30mm / 6000N

2-Finger-Double-Grippers

60





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D2PG2 100 10mm 1200N 6kg 120cm3 0.07s 0.08s 3.12kg 41kg cm3 0.01mm 100mm


2-Finger-Double-Gripper D2PG2 100

2FI

NGER


61





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D2PG2 125 13mm 2060N 10.3kg 230cm3 0.17s 0.17s 5.4kg 97kg cm3 0.05mm 125mm



62





*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D2PG2 200 30mm 6000N 30kg 1400cm3 1.3s 1.3s 13kg 600kg cm2 0.05mm 200mm



2FI

NGER


63

3PG050 3PG064 3PG080 3PG100 3PG125 3PG1602×4mm / 260N 2×6mm / 580N 2×8mm / 1000N 2×10mm / 1800N 2×13mm / 3100N 2×16mm / 6000N

3-Finger-Centric-Grippers

64



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length





3-Finger-Centric-Gripper 3PG050

3FI

NGER


65



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






66



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






3FI

NGER


67



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






68



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






3FI

NGER


69



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length



3-Finger-Centric-Griper 3PG160



70



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length



3PG080-10ST 3PG100-12ST 3PG125-3ST 3PG160-6ST 3PG200-35ST2×10mm / 1000N 2×12mm / 1800N 2×3mm / 5900N 2×6mm / 11000N 2×35mm / 8000N


3-Finger-Centric-Gripper 3PG080-10ST

3FI

NGER


71



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






72



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






3FI

NGER


73



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






74



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






3FI

NGER


75

3PGS064 3PGS080 3PGS100 3PGS1252×6mm / 410N 2×8mm / 760N 2×10mm / 1700N 2×13mm / 3000N


76



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

3PGS 064 6mm 410N 2kg 25cm3 0.05s 0.05s 0.75kg 13kg cm 2 0.03mm 65mm




3-Finger-Centric-Gripper 3PGS 064

3FI

NGER


77




*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length





78



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length






3FI

NGER


79



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

3PGS 125 13mm 3000N 15kg 240cm3 0.2s 0.2s 5kg 150kg cm2 0.03mm 125mm





80

3PGH100 3PGH1602×8mm / 1800N 2×13mm / 4500N

3-Finger-Centric-Grippers With Hole

3FI

NGER

81



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

3PGH100 8mm 1800N 9kg 95cm3 0.1s 0.1s 1.2kg 16kg cm3 0.01mm 80mm


3-Finger-Centric-Gripper 3PGH100

3PGH100 3PGH1602×8mm / 1800N 2×13mm / 4500N


82



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

3PGH160 13mm 4500N 22.5kg 360cm3 0.4s 0.3s 4kg 130kg cm3 0.02mm 125mm


3PGH100 3PGH1602×8mm / 1800N 2×13mm / 4500N


3-Finger-Centric-Gripper 3PGH160

3FI

NGER


83

D3PG100 D3PG125 D3PG1602×10mm / 1800N 2×13mm / 3100N 2×16mm / 6000N

3-Finger-Centric-Double-Grippers

84



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D3PG100 10mm 1800N 10kg 120cm3 0.07s 0.08s 3.1kg 41kg cm3 0.01mm 100mm




3-Finger-Double-Gripper D3PG100

3FI

NGER


85



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D3PG125 13mm 3100N 15.5kg 230cm3 0.17s 0.17s 5.4kg 97kg cm3 0.051mm 125mm


3-Finger-Double-Gripper D3PG125



86



*Workpiece weight

(recom.)

Air consump. per

doublestroke

Opening time

Closing time Mass


Repeat ability

Max. Finger length

D3PG160 16mm 6000N 25kg 520cm3 0.4s 0.4s 10kg 500kg cm2 0.05mm 160mm




3-Finger-Parallel-Gripper D3PG160

3FI

NGER


87

PFS25E PFS25E-4 PFS34E PFS34E-4 PFS40E PFS40E-4 PFS50E PFS50E-4 PFS63E 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

Flat Swivel UnitTYPE : PFS-E, Pneumatic

88

Type * *Torque at 6 bars

No. of air feed

throughs

Axialpayload

Radialpayload

Air consumpionper cycle(2×180°)

Cycle time(1×180°

without load)Mass


*Repeat ability

PFS25E 3Nm 0 600N 10.4Nm 22cm3 0.3s 1.8kg 45kg 0.1°

* After 100 consecutive swivel cycles to end position.** Actuation piston double-acting.

Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

SWIVEL

Dimension for PFS 25E


89


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

�

�

Dimension for PFS25E-4


No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS25E-4 3Nm 4 600N 10.4Nm 22cm3 0.3s 1.8kg 45kg 0.1°


Flat Swivel Units

90

Dimension for PFS34E


No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS34E 12Nm 0 1500N 30.8Nm 71cm3 0.5s 2.45kg 67kg cm3 0.1°


Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

SWIVEL


91

�



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS34E-4 12Nm 4 1500N 30.8Nm 71cm3 0.5s 2.9kg 67kg cm3 0.1°



3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

Flat Swivel Units

92



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS40E 22Nm 0 2900N 68Nm 126cm3 0.8s 4.4kg 188kg cm3 0.1°


Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

SWIVEL


93

�


Flat Swivel Units PFS 40-4


No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS40E-4 22Nm 4 2900N 68Nm 126 cm3 0.8s 5.5kg 188kg cm3 0.1°


Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

94



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS50E 45Nm 0 9000N 340Nm 384cm3 1s 9kg 1057kg cm3 0.1°


Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

SWIVEL


95



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS50E-4 45Nm 4 9000N 340Nm 384cm3 1s 9kg 1057kg cm3 0.1°


Flat Swivel Units PFS 40-4Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

96



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PFS63E 115Nm 0 11000N 950Nm 1410cm3 1s 25kg 6140kg cm3 0.1°


Flat Swivel Units


3Nm 0-180° 0-90-180°

3Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

12Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

22Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

45Nm 0-180° 0-90-180°

115Nm

Flat Swivel Units

SWIVEL


97

SFS 22D SFS 34D 0-180° 0-90-180°

1.5Nm 0-180° 0-90-180°

6Nm

Single Swivel Units

98


No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

SFS 22D 1.5Nm 0 600N 10.4Nm 22cm3 0.3s 1.2kg 35kg 0.1°


SFS 22D SFS 34D0-180° / 1.5Nm 0-180° / 6Nm

Single Swivel Units

Single Swivel Units SFS 22D

SWIVEL


99


No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

SFS 34D 6Nm 0 1500N 30.8Nm 35cm3 0.5s 1.8kg 67kg cm3 0.1°


SFS 22D SFS 34D0-180° / 1.5Nm 0-180° / 6Nm

Single Swivel Units

Flat Swivel Units PFS 40-4Single Swivel Units SFS 34D

100

Swivel HeadTYPE : PAS, PAS-E

PAS25E PAS34E PAS40E PAS50E0-180° / 3Nm 0-180° / 12Nm 0-180° / 22Nm 0-180° / 45Nm

Angle Swivel Units

SWIVEL


101

Dimension for PAS25E

Type * *Torque No. of air feed ports

Axialbearing

load

Radialbearing

load

Air consumpionfor 1×180°

Cycle time(1×180°

without load)Mass


*Repeat ability

PAS25E 3Nm 4 600N 10.4Nm 22cm3 0.3s 2.5kg 45kg 0.1°

* Control of end positions, in relation to the base body, after 100 consecutive swivelling cycles.** Actuation piston double-acting.

Angled Swivel Units


Angle Swivel Unit

102

A B

4

23

1

PAS 34

AUTOMATIC

ED

A ER0 K

N

IAM

010

98

7 6 5

4

32

10 10

98

7

654

32

1

010

9 8

7

65

4

32

10

10

98

7

65

4

32

1


Type * *Torque at 6bars

No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS34E 12Nm 5 750N 15.4Nm 35cm3 0.4s 3.8kg 155kg cm3 0.1°



Angle Swivel Unit

Angled Swivel Units

SWIVEL


103

1 2

4

BA

5,6

21

3

PAS 40

AUTOMATIC

ED

A ER0 K

N

IAM

010

98

7 6 5

4

32

10 10

98

7

654

32

1

010

9 8

7

65

4

32

10

10

98

7

65

4

32

1



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS40E 22Nm 4 2900N 38.8Nm 252cm3 0.8s 6.4kg 240kg cm3 0.1°



Angle Swivel Unit

Flat Swivel Units PFS 40-4Angled Swivel Units

104



No. of air feed

throughs

Axialpayload

Radialpayload


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS50E 45Nm 5 9000N 340Nm 768cm3 1.2s 15.4kg 1850kg cm3 0.1°



Angle Swivel Unit

Angled Swivel Units

SWIVEL


105

Swivel Unit & Gripper UnitTYPE : PAS

<Gripper의 최대 파지력과 모멘트>

PAS25E-64 PAS34E-80 PAS40E-100 PAS50E-1250-180° / 3Nm 0-180° / 12Nm 0-180° / 22Nm 0-180° / 45Nm

Swivel & Gripper Units

106


Axialbearing

load

Radialbearing

load

Air consump.for 1×180°

Cycle time(1×180°

without load)Mass


*Repeat ability

PAS25E-64

3Nm 4 600N 10.4Nm 22cm3 0.3s 3.2kg 90kg 0.1°

Stroke per Finger

*Gripping force at 6bars

* Workpiece weight

(recom.)

Air consomp.per

double stroke

Opening time

Closingtime

Repeatability

Max finger length

6mm 580N 3kg 25cm3 0.01s 0.01s 0.01mm 64mm



Swivel & Gripper Unit

Swivel & Gripper Units

SWIVEL

Dimension for PAS25E-64


107



Axialbearing

load

Radialbearing

load


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS34E-80

12Nm 5 750N 15.4Nm 35cm3 0.4s 5.2kg 155kg cm3 0.1°

Stroke per Finger


* Workpiece weight

(recom.)

Air consomp.per

double stroke

Openingtime

Closingtime

Mass moment of

inertia

Repeat ability

Max finger length

8mm 1000N 5.3kg 60cm3 0.05s 0.06s 19kg cm3 0.01mm 80mm




Flat Swivel Units PFS 40-4Swivel & Gripper Unit

108



Axialbearing

load

Radialbearing

load


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS40E-100

22Nm 4 1300N 63Nm 252cm3 0.8s 9kg 240kg cm3 0.1°

Stroke per Finger


Workpiece weight

(recom.)

Air consomp.per

double stroke

Openingtime

Closingtime

Mass moment of

inertia

Repeat ability

Max finger length

10mm 1800N 10kg 120cm3 0.07s 0.08s 41kg cm3 0.01mm 100mm





SWIVEL


109



Axialbearing

load

Radialbearing

load


Cycle time(1×180°

without load)Mass


*Repeat ability

PAS50E-125

45Nm 5 9000N 340Nm 768cm3 1.2s 19.4kg 1850kg cm3 0.1°

Stroke per Finger


Workpiece weight

(recom.)

Air consomp.per

double stroke

Openingtime

Closingtime

Mass moment of

inertia

Repeat ability

Max finger length

13mm 3100N 15.5kg 230cm3 0.17s 0.17s 97kg cm3 0.05mm 125mm




Flat Swivel Units PFS 40-4Swivel & Gripper Unit

110

ROS 025 ROS 040 ROS 0500-90° / 1Nm 0-90° / 5Nm 0-90° / 8Nm

90° Swivel Units

SWIVEL


111

Type * *TorqueAir

consumptionfor 90°

Cycle timefor 90° Mass Mass moment

of inertiamax. bending

moment*Repeatability

ROS 025 1Nm 12cm3 1s 0.5kg 2kg cm2 22Nm 0.05°


90° Swivel Units ROS 025

ROS 025 ROS 040 ROS 0501Nm 5Nm 8Nm

90° Swivel Units

112

Type * *TorqueAir

consumptionfor 90°




ROS 040 5Nm 50cm3 1s 1kg 12kg cm2 90Nm 0.1°



90° Swivel Units

90° Swivel Units ROS 040

SWIVEL


113

Type * *TorqueAir

consumptionfor 90°




ROS 050 8Nm 70cm3 1s 1.7kg 38kg cm2 128Nm 0.1°



90° Swivel Units

Flat Swivel Units PFS 40-490° Swivel Units ROS 050

114

SBG050-D2PG2 100 SBG050-D3PG 100 SBG060-D2PG2 125 SBG060-D3PG 1252×10mm / 1200N 3×10mm / 1800N 2×10mm / 2060N 2×13mm / 3100N

Bevel Gear Units For Swivels

SWIVEL


115



*Workpieceweight

(recom.)

Air consump.

per Mass * *Torque Input

Power

InputspeedRPM

RatioCycletime

(180°)

SwivelAngle

SBG050-D2PG2 100 10mm 1200N 6kg 120cm3 10kg 50Nm 7Nm 240 2 : 1 0.3s 0~300°

* Nominal output** Actuation piston double-acting.



Flat Swivel Units PFS 40-4Bevel Gear units For Swivel SBG050-D2PG2 100

116



*Workpieceweight

(recom.)

Air consump.


Power

InputspeedRPM

RatioCycletime

(180°)

SwivelAngle

SBG050-D3PG 100 10mm 1800N 9.5kg 120cm3 10kg 50Nm 7Nm 240 2 : 1 0.3s 0~300°




Bevel Gear units For Swivel SBG050-D3PG 100

SWIVEL


117



*Workpieceweight

(recom.)

Air consump.


Power

InputspeedRPM

RatioCycletime

(180°)

SwivelAngle

SBG060D2PG2 125 13mm 2060N 10.3kg 230cm3 15kg 60Nm 9Nm 300 2.5 : 1 0.3s 0~300°




Flat Swivel Units PFS 40-4Bevel Gear units For Swivel SBG060-D2PG2 125

118



*Workpieceweight

(recom.)

Air consump.


Power

InputspeedRPM

RatioCycletime

(180°)

SwivelAngle

SBG060D3PG 125 13mm 3100N 15.5kg 230cm3 15kg 60Nm 9Nm 300 2.5 : 1 0.3s 0~300°


SBG050-D2PG2 100 SBG050-D3PG 100 SBG06125 SBG060-D3PG 1252×10mm / 1200N 3×10mm / 1800N 2×10mm / 2060N 2×13mm / 3100N


Bevel Gear units For Swivel SBG060-D3PG 125

SWIVEL


119

Finger Swivel

FS 50 FS 6318.7Nm 55N

120

Type Swivelangle

Torqueat

6bar

Radial bearing

load

Axialbearing

load

Air consump.per cycle *Repeatability Mass

FS500°~90°

0°~180° 18.7Nm 18000N 15000N 190cm3 0.01° 11kg

* After 100 consecutive swivel cycles to end position.

FS 50 FS 6318.7Nm 55N

Finger Swivel

Finger Swivel FS50

SWIVEL


121

Type * *TorqueAir

consumptionfor 90°




FS630°~90°

0°~180° 55Nm 27000N 23000N 580cm3 0.01° 30kg

* After 100 consecutive swivel cycles to end position.

Finger Swivel

FS 50 FS 6318.7Nm 55N

Flat Swivel Units PFS 40-4Finger Swivel FS63

122

OVL 142X-Y-Z ± 6mm

Overload Protection

SWIVEL


123

Type Max. comp.X-axis

Max. comp.Y-axis

Max. comp.Z-axis

Max. angularcompensation

X-axis


Y-axis


Z-axisMass Repeatability

OVL 142 ±6mm ±6mm ±6mm 2.5° 2.5° 8° 1.35kg ±0.1mm

Overload Protection

OVL 142X-Y-Z ± 6mm

Flat Swivel Units PFS 40-4Overload Protection OVL 142

124

Tool changerTYPE : DCT

Tool Change

DCT-20 DCT-60 DCT-100 DCT-15020KG 60KG 100KG 150KG

Locking mechanism - Master part that piston pushes balls and Tool part that gets balls in locked position

Prevent falling and separation of Master/ Tool part by built-in spring(self-locking), even though air is cut off

Applicable to various Tool Excellent waterproof connector

Distinction

Material : Housing is Made of High-tensile Hard-coated Aluminium Alloy ; Functional Parts are Made of Hardened Steel

Actuation : Pneumatic, Compressed Aif Filtered(10µm), Dry of Lubricated

Range of Operating Pressure : From 2 to 8 Bars

Operating Temperature : From 5°C~60°C(41°F to 140°F) Accessories : Proximity Switches

재질 : AL(Hard-Coated) Hardened Steel

구동원 : Pneumatic

사용압력 : 2~8 bars

사용온도 : 5°C~60°C

Master의 피스톤이 볼을 밀어내

Tool부와 결합되는 구조 Air가 차단되어도 스프링이 내장되어

있어 Master와 Tool이 분해 및 낙하 되는 걸 방지함

다양한 Tool에 적용 가능함. 방수에 뛰어난 커넥터 적용 S

WIVEL


125

DCT-20

- Master

Master Tool

Tool Changer


Flat Swivel Units PFS 40-4DCT-20

Type Pay Load RepeatabilityProduct Weight Bending

MomentTwistingMoment

FittingSize

OperatingPressureMster Tool

DCT-20 20kg ±0.02mm 0.6kg 0.4kg 150Nm 180Nm 2X1/8,8X1/8 4~7bar

126

�

��

DCT-60

Master Tool

Tool Changer




FittingSize





127

DCT-100

Master Tool

Tool Changer




FittingSize




128

DCT-150

Master Tool



FittingSize





Tool Changer Dynamic MotionT e c h n o l o g y

129

ACCessories

Overload data and dimensions

Type Nominal distance in mm

KV in(m3/h) A B C D E F G H K Weight

in g

DCV 04 4 0.53 G 1/8n 19 8 M5 38 20 60 20 30 100

DCV 07 7 0.9 G 1/4n 24 9.5 M6 46 24 75 26 40 180

DCV 10 10 1.5 G 3/8n 29 11 M8 62 32 96 34 50 270

Technical date Nominal distance : 4mm

Medium : compressed air filtered 10 micron, lubricated

Range of operating pressure : 0.5.....10 bars

Range of operating temperature : -10° ..... to +80°C

Response time : ca. 10ms

Design stainless steel

Function : Two parallel acting double check valves. Once one side is actuated with compressed air the other side opens the return pass and respectively and close the pressure line.

Connection diagram :

130

01

02

03

Swivel & Gripper Maintenance

▶ 그림의 센스는 구매 선택 사양입니다.

▶ 추천 근접 센스 사양

① 원주형(외경 : Φ8)

② 감지거리 : 1~2mm

③ NPN Type or PNP Type

Swivel 각도 및 회전속도 조정 방법

1) Pinion gear(④) 를 회전하여 위 그림과 같이 센서 도그(⑨)가 상,하부의 센서 홀더(⑦)에 위치 하도록 맞춥니다.

2) 규격에 맞는 스패너를 사용하여 Stopper nut(⑥)를 풀어줍니다.

3) 스패너 또는 육각 렌치를 사용하여 Stopper(⑤)를 좌, 우로 돌리며 각도를 조정 할 수 있습니다.

4) Swivel 회전각도를 맞춘 후 Stopper nut(⑥)를 다시 고정합니다.

5) Swivel 회전속도 조정은 Shock absober의 삽입량으로 조절할수 있습니다.

Shock absorber 교체 방법

1) 먼저 공압을 차단 합니다.

2) Swivel body(③)에서 Shock absorber(②)를 분리해서 파손 여부를 확인 후 새 제품으로 교체 합니다.

* Shock absorber의 샤프트를 바닥으로 향하게 하고 손으로 잡고 눌렀을 때, 압력이 힘 없이 들어가면

파손된 제품입니다.

3) Shock absorber 교체가 끝나고 나면 공압을 연결하여 Air 누출이 없는지 살펴 봅니다.

Gripper Sensor 취부 및 조정방법

1) Sensor dog 조립 시 신호를 받는 부위를 센서의

중앙에 위치시키고 Set Screw(⑥)로 고정 합니다.

2) 센서(④)와 도그(①)와의 거리는 2mm 이내로

유지하여야 합니다.

a. 가장 이상적인 간격은 0.5 ~ 1.5mm입니다.

b. 센서와 도그간 거리가 너무 짧으면,

Gripper작동 시 센서가 도그에 부딪혀서

파손 될 수도 있습니다.

① SENSOR DOG

③ BOLT

④ SENSOR

② SPRING

⑤ SENSOR HOLDER

⑥ SET SCREW(M3)

③ SWIVEL BODY

④ PINIONGEAR

⑧ SENSOR

② SHOCK ABSORBER

① ABSORBER NUT

⑤ STOPPER

⑨ SENSOR DOG

⑦ SENSOR HOLDER

⑥ STOPPER NUT

131

적용GRIPPER : 3PG TYPE

적용SWIVEL +GRIPPER : PFS+2PG TYPE 적용SWIVEL : PFS + FS TYPE

기타

GRIPPER SYSTEM & SWIVEL UNIT

132

Application

경량,컴팩트형 품질, 내구성 향상, 항시 재고 보유


133

1공장 : 경남 함안군 칠원읍 용정1길 1 (52021)1, Yongjeong 1-gil, Chilwon-eup, Haman-gun, Gyeongsangnam-do 52021, Korea

2공장 : 경남 함안군 칠원읍 운무로217-42 (52016)217-42, Unmu-ro, Chilwon-eup, Haman-gun, Gyeongsangnam-do 52016, Korea

TEL. 055)587-1775 FAX. 055)587-9236 / TEL. 82-55-587-1775 FAX. 82-55-587-9236

GRIPPER ROBOT

SYSTEMS

GANTRY SYSTEM

GRIPPER & SWIVEL SYSTEM

APPLICATION

gripper robot systems

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