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

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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

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Note

 Machining

 Grinding dust

 Welding spatter

Parallel grippers are not designed for the following applications:

 Aggressive media

2

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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

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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

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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

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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

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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

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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

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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

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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 60.1 7.50.1

9 +0.05/–0.1 10.50.4 130.4

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

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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

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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

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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.

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Parallel grippers HGPC Accessories

Permissible drive/gripper combinations with adapter kit Combination Drive Gripper Size Size

HSW/HGPC

ERMB/HGPC

1)

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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

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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]

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Subject to change – 2016/03

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C

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