Parallel grippers HGPC
Parallel grippers HGPC Key features At a glance General The compact and low-cost parallel gripper consists of a two-part symmetrical housing. The piston moves traverse to the half-shell casing in an optimum housing design that
-H-
guarantees reliable operation, long service life and convenient sensing. The gripper jaws move along the half shells in backlash-free, preloaded ball bearing guides.
Double-acting gripper Compression spring for supplemen tary or retaining gripping forces Internal fixed flow control, does away with the need for external flow control in 80% of applications High force with minimal volume
Suitable for external and internal gripping Wide range of options for attaching drive units Repetition accuracy of 0.05 mm Slot for proximity sensor SME/SMT-10
Note
Sizing software Gripper selection èwww.festo.com Details
Mounting option from underneath
from above
1 Gripper jaw with ball bearing guide 2 Housing based on half-shell principle 3 Slot for proximity sensor, for sensing the piston position 4 Mounting option 5 Supply port
1 2 3 4 5
-H-
Note
Machining
Grinding dust
Welding spatter
Parallel grippers are not designed for the following applications:
Aggressive media
2
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Peripherals overview and type codes Peripherals overview
System product for handling and assembly technology
1 5 2
3 4
Accessories Type
Description
è Page/Internet
1
For regulating speed
grla
For connecting compressed air tubing with standard O.D.
qs
For sensing the piston position
14
For centring when attaching to a drive (2 included in the scope of delivery) Drive/gripper connections
14
2 3 4 5
One-way flow control valve GRLA Push-in fitting QS Proximity sensor SME/SMT-10 Centring sleeve ZBH Adapter kit HMSV, HAPG
12
Type codes HGPC
—
12
—
A
—
G2
Type HGPC
Parallel gripper
Size Position sensing A
Via proximity sensor
Gripping force backup G2
Closing
2016/03 – Subject to change
è Internet: www.festo.com/catalog/...
3
Parallel grippers HGPC Technical data Function Double-acting HGPC-…-A
-N-T-
Size 12, 16, 20 mm Stroke 6 … 14 mm
Single-acting or with gripping force retention closing HGPC-…-G2
General technical data Size
12
Constructional design Mode of operation Gripper function Number of gripper jaws Max. load per external gripper finger1) Stroke per gripper jaw Pneumatic connection Repetition accuracy2) Max. interchangeability Max. gripper jaw backlash3) Max. gripper jaw angular backlash4) Max. operating frequency Rotational symmetry Position sensing Type of mounting Mounting position 1) 2) 3) 4)
[g] [mm] [mm] [mm] [mm] [°] [Hz] [mm]
16
Wedge-shaped drive Guided motion sequence Double-acting Parallel 2 20 50 3 5 M5 0.05 0.2 0 0 4 0.2 For proximity sensing With female thread and centring sleeve Any
20
80 7
Valid for unthrottled operation End-position drift under constant conditions of use with 100 consecutive strokes in the direction of movement of the gripper jaws Perpendicular to the direction of motion of the gripper jaws Pretensioned, backlash-free ball bearing guide
Operating and environmental conditions Min. operating HGPC-…-A pressure HGPC-…-G2 Max. operating pressure Operating medium Note on operating/pilot medium Ambient temperature1) Corrosion resistance class CRC2) 1) 2)
[bar] [bar] [bar]
[°C]
2 4 8 Compressed air in accordance with ISO 85731:2010 [7:4:4] Operation with lubricated medium possible (in which case lubricated operation will always be required) +5 … +60 2
Note operating range of proximity sensors Corrosion resistance class 2 according to Festo standard 940 070 Components requiring moderate corrosion resistance. Externally visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment or media such as cool ants or lubricating agents
Weights [g] Size
12
16
20
HGPC-…-A HGPC-…-G2
152 154
241 244
473 477
4
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Technical data Materials Sectional view Parallel gripper
1
1 2 3 – –
2 3
Gripper jaw Housing Piston Seals Note on materials
High-alloy steel Die-cast zinc Polyamide Polyurethane, nitrile rubber Copper, PTFE and silicone-free Conforms to RoHS
Gripping force [N] at 6 bar
Size
12
16
20
Gripping force per gripper jaw Opening Closing
22 22
41.5 41.5
63 63
Total gripping force Opening Closing
44 44
83 83
126 126
Static characteristic load values at the gripper jaws Indicated permissible forces and torques apply to a single gripper jaw. The indicated values include the lever arm, additional applied loads caused by the workpiece or external gripper fingers, as well as forces which occur
Size Max. permissible force Fz Max. permissible torque Mx Max. permissible torque My Max. permissible torque Mz
2016/03 – Subject to change
[N] [Nm] [Nm] [Nm]
during movement. The zero coordinate line (gripper finger guide) must be taken into con sideration for the calculation of torques.
12
16
20
40 1 1 1
80 2,5 2,5 2,5
120 5 5 5
è Internet: www.festo.com/catalog/...
5
Parallel grippers HGPC Technical data Mass moment of inertia [kgm2x10-4] Mass moment of inertia [kgm2x10-4] of the parallel gripper in relation to the central axis with no load.
Size
12
16
20
HGPC-…-A HGPC-…-G2
0.272 0.274
0.679 0.683
2.095 2.105
Opening and closing times [ms] at 6 bar without external gripper fingers with external gripper fingers The indicated opening and closing times [ms] have been measured at room temperature and at 6 bar operating pressure with horizontally mounted gripper without additional
Size without external gripper fingers HGPC-…-A HGPC-…-G2
Opening Closing Opening Closing
with external gripper fingers as a function of the load HGPC-… 40 g 50 g 60 g 70 g 100 g 120 g
6
gripper fingers. The grippers must be throttled for greater loads [g]. Opening and closing times must then be adjusted correspondingly.
12
16
20
30 30 30 30
60 60 70 50
90 90 105 75
40 60 80 – – –
– – – 80 100 –
– – – – – 100
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Technical data Gripping force FGrip per gripper jaw as a function of operating pressure and lever arm x Gripping forces as a function of the operating pressure and the lever arm can be determined for the size using the following graph.
HGPC-16-A
FGrip [N]
FGrip [N]
HGPC-12-A
x [mm]
x [mm]
FGrip [N]
HGPC-20-A
x [mm]
2016/03 – Subject to change
3 bar 6 bar 8 bar
è Internet: www.festo.com/catalog/...
7
Parallel grippers HGPC Technical data Spring force FS as a function of the gripper size and the overall stroke l Gripping force retention for HGPC-…-G2 HGPC-12 HGPC-16 HGPC-20 FS [N]
Spring forces FS as a function of the gripper size and the overall stroke l for various gripper types (HGPC-...-G2) can be determined using the following graphs.
l [mm] The lever arm x must be taken into consideration when determining the actual spring force FStotal. The formulae for calculating the spring force are provided in the table opposite.
Size
FStotal =
12 16 20
–0.02 * x +0.5 * FS –0.05 * x +0.5 * FS –0.05 * x +0.5 * FS
Determination of the actual gripping forces FGr for HGPC-...-G2 depending on the application Parallel grippers with integrated spring type HGPC-...-G2 (closing gripping force retention) can be used as: – single-acting grippers Application Single-acting Gripping with spring force: FGr = FStotal
– grippers with supplementary gripping force – grippers with gripping force retention
Supplementary gripping force Gripping with pressure and spring force: FGr = FGrip + FStotal
In order to calculate available gripping forces FGr (per gripper jaw), the gripping force (FGrip) and spring
force (FStotal) must be combined accordingly.
Gripping force retention Gripping with spring force: FGr = FStotal
Gripping with pressure force: FGr = FGrip – FStotal
8
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Technical data Gripping force FGrip per gripper jaw at 6 bar as a function of lever arm x and eccentricity y Gripping forces at 6 bar dependent upon eccentric application of force and the maximum permissible offcentre point of force application can be determined for the size using the following graph.
Calculation example Recommended range
FGrip [N]
Procedure: Determine the intersection xy between lever arm x and eccentric ity y in the graph for HGPC-12-A-... Draw an arc (with centre at origin) through intersection xy. Determine the intersection between the arc and the X axis. Read the gripping force. Result: Gripping force F = approx. 20.5 N
x [mm]
Given: Lever arm x = 20 mm Eccentricity y = 22 mm To be found: Gripping force at 6 bar
y [mm] HGPC-12-A
HGPC-16-A Recommended range
FGrip [N]
x [mm]
x [mm]
FGrip [N]
Recommended range
y [mm]
y [mm] HGPC-20-A
x [mm]
FGrip [N]
Recommended range
y [mm]
2016/03 – Subject to change
è Internet: www.festo.com/catalog/...
9
Parallel grippers HGPC Technical data Download CAD data è www.festo.com
Dimensions
1 2 3 4 5 6
Size
B1
B2
B3
B4
D1
D2
D3
2.5+0.04/+0.01
0.1
[mm]
Sensor slot for proximity sensor Supply port, opening Supply port, closing Gripper jaw closed Gripper jaw open Centring sleeves ZBH (2 included in scope of delivery)
D5
D6
0.1
D4 F10/h7
3.3 4.3 5.3
7 7 9
5.3 5.3 6.4
M4 M5 M6
H8
H9
H10
12 16 20
38 46 57
33 39 50
22.4 28 35
6 7 8
12 12 12
Size
EE
H1
H2
H3
H4
H5
H6
H7
12 16 20
M5 M5 M5
48.2 55.2 68.7
33.6 38.2 48.2
21.7 25.2 32.5
20.2 23.7 30.5
6.9 8.2 10.2
5+0.05/–0.1 60.1 7.50.1
9 +0.05/–0.1 10.50.4 130.4
25 28.5 34.5
1.2 1.5 1.5
9.2 10.7 13.7
Size
L1
L2
L3
L41)
L5
L6
T1
T2
T3
[mm]
0.5
0.5
0.1
T4 +0.4 –0.3
T5 +0.1 –0.3
12 16 20
45 62 77
39 52 63
10–0.02/–0.06 12–0.05 14–0.05
33 40 50
42 51 65
10 12 16
1.7 1.8 2.3
3.1 3.8 5.2
1.3 1.2 1.7
0.5
[mm]
1)
10
3 H8 4 H8
–0.2
min. 4.5 4.5 4.5
2.2 2.7 3.2
Tolerance for centring hole 0.03 Tolerance for thread 0.1
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Technical data Minimum distance l between gripper and ferritic object 12 Distance
[mm]
16
20
10
Ordering data Size
2016/03 – Subject to change
[mm]
Double-acting Without compression spring Part No. Type
Single-acting or with gripping force retention Closing Part No. Type
12 16 20
539 267 539 269 539 271
539 268 539 270 539 272
HGPC-12-A HGPC-16-A HGPC-20-A
è Internet: www.festo.com/catalog/...
HGPC-12-A-G2 HGPC-16-A-G2 HGPC-20-A-G2
11
Parallel grippers HGPC Accessories
Permissible drive/gripper combinations with adapter kit Combination Drive Gripper Size Size
DGSL/HGPC
SLT/HGPC
HMP/HGPC
HSP/HGPC
1)
12
-H-
Material: Wrought aluminium alloy Free of copper and PTFE RoHS-compliant
Adapter kit HAPG
Note
The kit includes the individual mounting interface as well as the necessary mounting material. Download CAD data è www.festo.com Adapter kit CRC1) Part No.
Mounting option
DGSL 12, 16 20, 25 20, 25
HGPC 12 16 20
n n n
n n n
SLT 10 16 16 20 20 25
HGPC 12 12 16 16 20 20
n n n n n n
– – – – – –
HMP 16 20, 25
HGPC 16 20
– –
n n
HSP 16
HGPC 16
25
20
Type
HAPG 2
529018 191267 191269
HAPG-58 HAPG-49 HAPG-51
542670 529018 542666 191267 542667 191269
HAPG-100 HAPG-58 HAPG-101 HAPG-49 HAPG-102 HAPG-51
191263 191264
HAPG-45 HAPG-46
191901 540882 191901 540883
HAPG-55 HAPG-71-B HAPG-55 HAPG-72-B
HAPG
2
HAPG 2
HAPG n
–
n
–
2
Corrosion resistance class 2 according to Festo standard 940 070 Components subject to moderate corrosion stress. Externally visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment or media such as coolants or lubricating agents.
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Parallel grippers HGPC Accessories
Permissible drive/gripper combinations with adapter kit Combination Drive Gripper Size Size
HSW/HGPC
ERMB/HGPC
1)
-H-
Material: Wrought aluminium alloy Free of copper and PTFE RoHS-compliant
Adapter kit HAPG
HSW 12, 16
HGPC 16
ERMB 20 20 25
HGPC 16 20 20
Note
The kit includes the individual mounting interface as well as the necessary mounting material. Download CAD data è www.festo.com Adapter kit CRC1) Part No.
Mounting option
Type
HAPG n
–
n n n
n n n
2
191901 540882
HAPG-55 HAPG-71-B
542668 542669 542758
HAPG-SD2-42 HAPG-SD2-43 HAPG-SD2-44
HAPG 2
Corrosion resistance class 2 according to Festo standard 940 070 Components subject to moderate corrosion stress. Externally visible parts with primarily decorative surface requirements which are in direct contact with a normal industrial environment or media such as coolants or lubricating agents.
2016/03 – Subject to change
è Internet: www.festo.com/catalog/...
13
Parallel grippers HGPC Accessories Ordering data – Centring sleeves For size [mm]
Part No.
Type
1 1
186717 150927
ZBH-7 ZBH-9
Switching output
Cable length [m]
Part No.
Type
N/O contact, magneto-resistive Insertable in the slot from Cable, 3-wire, in-line above Plug M8x1, 3-pin, in-line
PNP
2.5 0.3
551373 551375
Technical data è Internet: smt SMT-10M-PS-24V-E-2,5-L-OE SMT-10M-PS-24V-E-0,3-L-M8D
N/O contact, magnetic reed Insertable in the slot Cable, 3-wire, in-line lengthwise Plug M8x1, 3-pin, in-line
Contacting
2.5 0.3
173210 173212
Technical data è Internet: sme SME-10-KL-LED-24 SME-10-SL-LED-24
Switching output
Cable length [m]
Part No.
Type
N/O contact, magneto-resistive Insertable in the slot from Cable, 3-wire, lateral above Plug M8x1, 3-pin, lateral
PNP
2.5 0.3
551374 551376
Technical data è Internet: smt SMT-10M-PS-24V-E-2,5-Q-OE SMT-10M-PS-24V-E-0,3-Q-M8D
N/O contact, magnetic reed Insertable in the slot Cable, 3-wire, lateral lengthwise Plug M8x1, 3-pin, lateral
Contacting
2.5 0.3
173211 173213
Technical data è Internet: sme SME-10-KQ-LED-24 SME-10-SQ-LED-24
Electrical connection, right
Cable length [m]
Part No.
Type
Straight socket, M8x1, 3-pin
Cable, open end, 3-wire
Angled socket, M8x1, 3-pin
Cable, open end, 3-wire
2.5 5 2.5 5
541333 541334 541338 541341
NEBU-M8G3-K-2.5-LE3 NEBU-M8G3-K-5-LE3 NEBU-M8W3-K-2.5-LE3 NEBU-M8W3-K-5-LE3
12, 16 20 1)
10 10
Packaging unit
Ordering data – Proximity sensors for C-slot Type of mounting Electrical connection, connection direction
Ordering data – Proximity sensors for C-slot Type of mounting Electrical connection, connection direction
Technical data è Internet: nebu
Ordering data – Connecting cables Electrical connection, left
14
Technical data è Internet: zbh PU1)
Weight [g]
è Internet: www.festo.com/catalog/...
Subject to change – 2016/03
Festo North America
1 Festo Canada Headquarters Festo Inc. 5300 Explorer Drive 0ississauga, O1 LW 5*
2 Montréal 5600, Trans-Canada Pointe-Claire, QC +95 1%6
3 Québec City 930, rue Watt11 Québec, QC *1; *3
4 Festo United States Headquarters Festo Corporation 395 Moreland Road +auppauge, 1< 11
5 Appleton 1orth 9 Tower 9iew Drive, Suite 1 Greenville, WI 59
7 'etroit 11 West Long Lake Road Troy, MI 09
6 Chicago 5 W Algonquin - Suite 30 Arlington +eights, IL 60005
8 Silicon Valley 935 Southfront Road, Suite F Livermore, CA 9550
Canadian Customers Commercial Support: Tel: 1 *O FESTO 1 3 3 Fax: 1 F; FESTO 1 393 3 Email: festocanada#cafestocom
Technical Support: Tel:1 *O FESTO 1 3 3 Fax:1 F; FESTO1 393 3 Email: technicalsupport#cafestocom
USA Customers Commercial Support: Tel:1 00 99 FESTO 1 00 993 3 Fax:1 00 9 FESTO 1 00 93 3 Email: customerservice#usfestocom
Technical Support: Tel:1 *O FESTO 1 3 3 Fax:100 9 FESTO1 00 93 3 Email: productsupport#usfestocom
SubMect to change
Internet: www.festo.com/us
C
Festo Regional Contact Center