SCHUNK HGN Series User instructions

Translation of the original manual
2-Finger Parallel Gripper
HGN
Assembly and operating manual
Superior Clamping and Gripping

Imprint
2 01.00|HGN |en
Imprint
Copyright:
This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is solely
supplied to our customers and operators of our products and forms part of the product.
This documentation may not be duplicated or made accessible to third parties, in particu-
lar competitive companies,
without our prior permission.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 0389139
Edition: 01.00 |04/08/2014|en
© SCHUNK GmbH & Co. KG
All rights reserved.
Dear customer,
congratulations on choosing a SCHUNK product. By choosing SCHUNK, you have opted for
the highest precision, top quality and best service.
You are going to increase the process reliability of your production and achieve best
machining results – to the customer's complete satisfaction.
SCHUNK products are inspiring.
Our detailed assembly and operation manual will support you.
Do you have further questions? You may contact us at any time – even after purchase.
Kindest Regards
Yours SCHUNK GmbH & Co. KG
Spann- und Greiftechnik
Bahnhofstr. 106 – 134
D-74348 Lauffen/Neckar
Tel. [phone]
Fax [phone]
[email protected]
www.schunk.com

Table of Contents
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3
Table of Contents
1 About this manual.................................................................................................... 5
1.1 Warnhinweise........................................................................................................... 5
1.2 Variants..................................................................................................................... 6
1.3 Applicable documents .............................................................................................. 6
2 Basic safety notes .................................................................................................... 7
2.1 Intended use............................................................................................................. 7
2.2 Environmental and operating conditions................................................................. 7
2.3 Not intended use ...................................................................................................... 7
2.4 Product safety........................................................................................................... 8
2.4.1 Protective equipment ................................................................................... 8
2.4.2 Demands on the top jaws ............................................................................. 8
2.4.3 Constructional changes, attachments, or modifications.............................. 8
2.5 Personnel qualification............................................................................................. 8
2.6 Using personal protective equipment...................................................................... 9
2.7 Notes on particular risks........................................................................................... 9
2.7.1 Variant gripping force maintenance .......................................................... 10
3 Warranty................................................................................................................. 11
4 Scope of delivery ..................................................................................................... 11
5 Accessories.............................................................................................................. 11
5.1 Sensors.................................................................................................................... 11
6 Technical data ......................................................................................................... 12
7 Assembly................................................................................................................. 13
7.1 Mechanical connection .......................................................................................... 13
7.2 Oil supply ................................................................................................................ 15
7.3 Sensors.................................................................................................................... 17
7.3.1 Inductive proximity switch IN 80 ................................................................ 17
8 Troubleshooting ...................................................................................................... 21
8.1 Module does not move? ........................................................................................ 21
8.2 The module does not travel through the entire stroke? ....................................... 21
8.3 Module opens or closes abruptly? ......................................................................... 22
8.4 The gripping force drops? ...................................................................................... 22
8.5 Module does not achieve the opening and closing times? ................................... 23
9 Maintenance and Care ............................................................................................ 24
9.1 Notes....................................................................................................................... 24
9.2 Maintenance and lubrication intervals .................................................................. 24

Table of Contents
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9.3 Lubricants/Lubrication points (basic lubrication) ................................................. 24
9.4 Disassembly of the module ................................................................................... 25
9.4.1 Version without gripping force maintenance............................................. 25
9.4.2 Maintencance of module with gripping force maintenance
"O.D. gripping" (O.D.) ................................................................................. 25
9.5 Servicing and assembling the module.................................................................... 27
9.5.1 Assembly and calibration of seals............................................................... 27
9.5.2 Screw tightening torques............................................................................ 28
9.6 Mounting devices ................................................................................................... 29
10 Assembly drawing ................................................................................................... 31
11 Seal kit .................................................................................................................... 32
12 Translation of original declaration of incorporation................................................. 33

About this manual
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5
About this manual
This instruction is an integral part of the product and contains im-
portant information for a safe and proper assembly, commission-
ing, operation, maintenance and help for easier trouble shooting.
Before using the product, read and note the instructions, especial-
ly the chapter "Basic safety notes".
Warnhinweise
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Danger for persons.
Non-compliance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons.
Ignoring a safety note like this can lead to irreversible injury and
even death.
CAUTION
Dangers for persons.
Non-observance can cause minor injuries.
NOTICE
Material damage
Information about avoiding material damage.
WARNING
Warning about hand injuries
1
1.1

About this manual
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Variants
This operating manual applies for the following variations
•HGN without gripping force maintenance
•HGN with gripping force maintenance "O.D. gripping"
Applicable documents
•General terms of business
•Catalog data sheet of the purchased product
•Assembly and Operating manuals of the accessories
The documents listed here, can be downloaded on our homepage
www.schunk.com
1.2
1.3

Basic safety notes
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7
Basic safety notes
Intended use
The product was designed to grip and to temporarily and securely
hold workpieces and objects.
The product is intended for installation in a machine/system. The
requirements of the applicable guidelines must be observed and
complied with.
The product may be used only in the context of its defined applica-
tion parameters (6, Page 12).
The product is designed for industrial use.
To use this unit as intended, it is also essential to observe the
technical data and installation and operation notes in this manual
and to comply with the maintenance intervals.
Environmental and operating conditions
•Make sure that the product and the top jaws are a sufficient
size for the application.
•Observe Maintenance and lubrication intervals (9.2, Page 24).
•Make sure that the environment is free from splash water and
vapors as well as from abrasion or processing dust. Exceptions
are products that are designed especially for contaminated en-
vironments.
Not intended use
Use which is not specified as an intended use is for instance when the
product is for example used as a pressing tool, stamping tool, lifting
tool, guide for tools, cutting tool, tensioning mean, boring tool.
2
2.1
2.2
2.3

Basic safety notes
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Product safety
Dangers arise from the product, if:
•the product is not used in accordance with its intended purpose.
•the product is not installed or maintained properly.
•the safety and installation notes are not observed.
Avoid any manner of working that may interfere with the function
and operational safety of the product.
Wear protective equipment.
NOTE
More information are contained in the relevant chapters.
Protective equipment
Provide protective equipment per EC Machinery Directive.
Demands on the top jaws
Arrange the top jaws such that when the product is depressurized
it can reach one of the end positions either open or closed and
therefore no residual energy can be released when changing the
top jaws.
Constructional changes, attachments, or modifications
Additional drill holes, threads, or attachments that are not offered
as accessories by SCHUNK may be attached only with permission
of SCHUNK.
Personnel qualification
The assembly, initial commissioning, maintenance, and repair of
the product may be performed only by trained specialist person-
nel. Every person called upon by the operator to work on the
product must have read and understood the complete assembly
and operating manual, especially the chapter "Basic safety notes"
(2, Page 7). This applies particularly to personnel only used oc-
casionally, such as maintenance personnel.
2.4
2.4.1
2.4.2
2.4.3
2.5

Basic safety notes
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9
Using personal protective equipment
When using this product, observe the relevant industrial safety
regulations and use the personal protective equipment (PPE) re-
quired!
•Use protective gloves, safety shoes and safety goggles.
•Observe safe distances.
•Minimal safety requirements for the use of equipment.
Notes on particular risks
Generally valid:
•Remove the energy supplies before installation, modification,
maintenance, or adjustment work.
•Make sure that no residual energy remains in the system.
•Do not move parts by hand when the energy supply is con-
nected.
•Do not reach into the open mechanism or the movement area
of the unit.
•Perform maintenance, modifications, and additions outside the
danger zone.
•Secure the product during all operations against uncontrolled
activation.
•Take a precautionary approach by maintenance and disassembly.
•Only specially trained staff should disassemble the product.
2.6
2.7

Basic safety notes
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WARNING
Risk of injury due to squeezing and bumping during movement of
the gripper jaws and breaking or loosening of the gripper fingers!
WARNING
Risk of injury from objects falling and being ejected
•The danger zone must be surrounded by a safety fence during
operation.
WARNING
While disassembling uncontrollable moves of parts of the grip-
per possible!
Variant gripping force maintenance
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can, dur-
ing energy supply failure, still move independently in the direc-
tion specified by the mechanical gripping force maintenance.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.
WARNING
Risk of injury due to residual energy in the gripper because of
gripping force maintenance by springs!
2.7.1

Accessories
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11
Warranty
If the product is used as intended, the warranty is valid for 24
months from the date of delivery from the production facility un-
der the following conditions:
•Observance of the ambient conditions and operating conditions
(2.2, Page 7)
•Observance of the maintenance and lubrication intervals
(9, Page 24)
Parts touching the workpiece and wearing parts are not part of the
warranty.
Scope of delivery
The scope of delivery includes:
•2-Finger Parallel Gripper HGN in the ordered model.
•Accessory pack
Accessories
A wide range of accessories are available for this module.
For information about which accessories can be used with the ap-
propriate product version ☞catalog.
Sensors
Overview of the compatible sensors
Designation Type
Inductive proximity switches IN
•Exact type designation of the compatible sensors see ☞catalog.
•If you require further information on sensor operation, contact
your SCHUNK contact person or download information from
our homepage.
3
4
5
5.1

Technical data
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Technical data
Nominal working pressure [bar] 45
Pressure medium hydraulic oil, filtered (10 microns),
viscosity 46 mm2/s at 40°C
in accordance with ISO VG
Min. pressure [bar] 30
Max. pressure [bar] 45
Noise emission [dB(A)] ≤ 70
max. admissible volume of current [l/min] 2
Max. oil leakaget [mg/Zyklus] 0.5
NOTE
Don’t fall below the min. closing-/ and opening times
Designation HGN
80 80 AS 100
100 AS
125 125 AS 160 160 AS
Closing time [s] 0.15 0.15 0.2 0.2 0.3 0.4
Opening time [s] 0.15 0.2 0.2 0.3 0.3 0.4
Further technical data can be found in the catalog data sheet.
The most recent version applies.
6

Assembly
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13
Assembly
Mechanical connection
WARNING
Risk of injury when the machine/system moves unexpectedly,
due to moving of gripping jaws.
•Before starting mounting of the gripper, the hydraulic connec-
tion must be switched off.
The values relate to the entire bolting surface.
Requirements for levelness of the bolting surface (Dimensions in mm)
Diameter Permissible unevenness
< 100 < 0.02
> 100 < 0.05
The module can be mounted from the front, from the rear or on
the side.
Fig. 1 mounting posibilities
1 2x cylindrical pins
DIN EN ISO 8734
2/4 4xSocket head cap screws
DIN EN ISO 4762
3 Adapter plate 5 2x Socket head cap screws
DIN EN ISO 4762
7
7.1
Check the evenness
of the bolting surface
Mounting

Assembly
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Mounting material
Item Mounting HGN
80 100 125 160
2 Module from rear
M5 M6 M8 M8
4 Module from the front
5 Module laterally
Note
•For installation from rear, fix the module using the fixing holes
provided.
•Mount the module using the mounting bores provided.
•Attach the top jaws using the mounting bores provided.

Assembly
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15
Oil supply
Fig. 2
1 Hose-free direct connection
(a= open, b = closed)
5 laterally
O-ring Ø6 x 2
at the bottom
HGN 100/125/160: O-ring Ø6 x 2
HGN 80: O-ring Ø5 x 1.5
2 Hose connection R 1/8"
(A= open, B = closed)
3 Adapter 6 2× M6 for direct connection
without hoses
4 Gripper
7.2

Assembly
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NOTE
The max. volume of current is 2 l/min.
Fig. 3 Switching diagram
1 For the assembly without hoses, use 2 O-rings and seal the oil
feeding.
2 Close the oil feedings which you don't use for your application
with a suitable welsh plug.
Further information on the hose-free direct connection contains
the catalog data sheet.

Assembly
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17
Sensors
The module is prepared for a number of sensors. Other sensors
can be used with a mounting kit.
•If you require further information 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).
Inductive proximity switch IN 80
Fig. 4
Fig. 5 Output: drawn in non-actuated condition
The inductive proximity switches used are equipped with reverse
polarity protection and are short-circuit-proof.
Make sure that you handle the proximity switches properly:
•Do not pull on the cable.
•Do not allow the sensor to dangle from the cable.
•Do not overtighten the mounting screw or mounting clip.
•Please adhere to a permitted bend radius of the cable. (☞catalog)
•Avoid contact of the proximity switches with hard objects and
with chemicals, in particular nitric acid, chromic acid and sul-
phuric acid.
7.3
7.3.1

Assembly
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The inductive proximity switches are electronic components,
which can react sensitively to high-frequency interference or elec-
tromagnetic fields.
•Check to make sure that the cable is fastened and installed cor-
rectly. Provide for sufficient clearance to sources of high-
frequency interference and their supply cables.
•Parallel switching of several sensor outputs of the same type
(npn, pnp) is permissible, but does not increase the permissible
load current.
•Note that the leakage current of the individual sensors (ca. 2 mA)
is cumulative.
Fig. 6
1 Control-cam (magnetic) 2 set screw (24) for clamping
of the control cam
3 proximity switch closed
(closer)
4 proximity switch open
(opener)
5 clamping sleeve 6 Sealing set screw
7 Set screw for clamping of the control cam
Assembly and ad-
justment of the prox-
imity switch

Assembly
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19
NOTE
•The proximity switches are an accessory and must be ordered
separately.
•The control cams for gripper “Open” and “Closed” are already
assembled.
•The control cams for intermediate positions are enclosed in the
accessories pack.
NOTE
The max. tightening torque for the fastening screws of the proxim-
ity switch is 1 Nm.
Gripper open:
1 Set the gripper to the "Open" position.
2 Carefully move the opener into the clamping sleeve until the
proximity switch contacts the control cam.
3 Draw back the proximity switch by appr. 0.5 mm.
4 Fasten the proximity switch with the lateral set-screw. (ob-
serve max. tightening torque).
5 Connect the proximity switch.
6 Check proper function by closing and opening the gripper.
Gripper closed:
1 Set the gripper to the "Closed" position.
2 Carefully move the opener into the clamping sleeve until the
proximity switch contacts the control cam.
3 Draw back the proximity switch by appr. 0.5 mm.
4 Fasten the proximity switch with the lateral set-screw. (ob-
serve max. tightening torque).
5 Connect the proximity switch.
6 Check proper function by closing and opening the gripper.

Assembly
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Part gripped (O.D. gripping)
1 Assemble the proximity switch as previously described.
2 Set the gripper to the "Closed" position.
3 Loosen the set-screw which jams the control cam (therefore
remove the lateral sealing set-screw in the housing, 2 pieces
on each side).
4 Clamp the part to be gripped.
5 Push the control cam until the proximity switch is switching.
6 Carefuly set the gripper into “Closed” position.
7 Fasten the control cam and check on proper function.
8 Now close the lateral thread of the housing again with a seal-
ing set-screw.
NOTE
Consider the range of function of the control cams. Exchange them
if necessary
Chart of control cams:
Length of the
control cams
HGN
80 Stroke 1 100 Stroke 1 125 Stroke 1 160 Stroke 1
9.2 mm 0 - 5 mm 0 - 6 mm 0 - 4 mm 0 - 2 mm
14 mm 5 - 8 mm 6 - 10 mm 4 - 8.5 mm 2 - 6.5 mm
18 mm - - 8.5 - 13 mm 6.5 - 11.5 mm
24.5 mm - - - 11.5 - 16 mm