IPR - Intelligente Peripherienfür Roboter GmbH工具 模块 抓手

德国IPR - Intelligente Peripherienfür Roboter GmbH工具 模块 抓手

产品系列：

Functional principle :

The position compensation is made possible through specially developed elastomer elements. If a position offset occurs, the workpiece to be inserted will be moved automatically by the resulting reaction forces in such a way that jamming an wedging of the parts is prevented. Depending on the chamfer present, positioning misalignments of up to 3 mm and angular misalignments of up to 2 degrees can be compensated. The compensation takes place horizontally in the x-y plane and about the x-y-z axis for angular compensation. After extension, the element returns back into the starting postition through self-centering.

	Typ	[mm]	Empf. Handlingsgew. [kg]	LX [mm]
	FM 50	50	0,6 - 1,1	50
	FM 80	80	1,2 - 2,4	100
	FM 100	100	2,5 - 3,5	150
	FM 125	125	3,7 - 7,0	200
	FM 160	160	7,1 - 18	300
	FM 200	200	18 - 52	400
	FM 250	250	52 - 90	450
	FM 300	300	52 - 150	600
The length of the gripper and part (LX Value) is the determining parameter for assembly operations with close tolerance fittings and insertion operations in which minimum insertion forces are required. The LX vlaue (see table) is the maximum value which should not be exceedes for an FM type. For simple insertion or placing operations, the recommended payload is to be taken as the approximate value to determine the necessary model. It can be exceeded in case of slow travelling movements. We shall be pleased to support you with your selection. Attention: If the elastomers have come into contact with oil or chemicals, please contact us, because in that way you need special elastomers made of Perbunane. If elastomers are for use in machine tools, then Perbunane elastomers must be used, because they are resistant to cooling media.

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Technical Data Compliance Wrist FM

Model	Weight [kg]	Max. Compliance [mm]	Max. Rotation [°]	Payload [kg]	Locking Force [N bei 6 bar]
FM-50 G	0,26	± 3	± 2	0,6 - 1,1	-
FM-80 G	0,26	± 3	± 2	1,2 - 2,4	-
FM-80 Ü	0,3	± 2	± 2	1,2 - 2,4	-
FM-80 P	0,4	± 2	± 1	1,2 - 2,4	220
FM-80 V	0,45	± 2	± 1	1,2 - 2,4	220
FM-100 G	0,42	± 3	± 2	2,5 - 3,5	-
FM-100 Ü	0,46	± 2	± 2	2,5 - 3,5	-
FM-100 P	0,7	± 2	± 1	2,4 - 3,5	360
FM-100 V	0,82	± 2	± 1	2,5 - 3,5	360
FM-125 P	1,2	± 2	± 1	3,7 - 7,0	600
FM-160 P	1,7	± 2	± 1	7,1 - 18	500
FM-160 V	1,9	± 2	± 1	7,1 - 18	500
FM-200 P	4,0	± 3	± 1	18 - 52	1800
FM-200 V	4,5	± 3	± 1	18 - 52	1800
FM-250 P	10,1	± 3	± 1	52 - 90	2100
FM-250 V	10,6	± 3	± 1	52 - 90	2100
FM-300 P	5,8	± 2,5	± 1	52 - 150	1800

 

Functional principle:

	The compensation movement is implemented through linear roller guidance based on the compound slider principle. Compensation takes place without reaction force. The fixture can be locked in a central position using a double-action pneumatic cylinder. The compensation can take place two-dimensionally in the x-y direction.

Information:
The maximum allowable moment is the decisive parameter for the selection of the lateral alignment devices. Additional part picking or placing forces which can work as moment loads on the guides must be taken into account. If shock loads are to be expected, in case of a collision for example, a robot load limiter should be foreseen for the protection of the guides (see pages on robot load limiter systems).

 

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Technical data Lateral Alignment Device KA

Model	KA 65	KA 80	KA 100	KA 125	KA 160	KA 200	KA 250	KA 300
allowable Moment [Nm]	2	3	30	60	100	150	250	300
Payload [kg]	0,5	1,0	2,0	2-5	10	15-40	30-80	50-200
Extension [mm]	± 1,5	± 2	± 2	± 3	± 4	± 12	± 14	± 25
Pressure Force [N]	150	200	400	800	1000	1600	2500	4000

 

Functional principle:

	The compensation movement is implemented through linear roller guidance based on the compound slider principle. Compensation takes place without reaction force. The fixture can be locked in a central position using a double-action pneumatic cylinder. The compensation can take place two-dimensionally in the x-y direction.

Information:
The maximum allowable moment is the decisive parameter for the selection of the lateral alignment devices. Additional part picking or placing forces which can work as moment loads on the guides must be taken into account. If shock loads are to be expected, in case of a collision for example, a robot load limiter should be foreseen for the protection of the guides (see pages on robot load limiter systems).

 

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Technical data Lateral Alignment Device KA

Model	KA 65	KA 80	KA 100	KA 125	KA 160	KA 200	KA 250	KA 300
allowable Moment [Nm]	2	3	30	60	100	150	250	300
Payload [kg]	0,5	1,0	2,0	2-5	10	15-40	30-80	50-200
Extension [mm]	± 1,5	± 2	± 2	± 3	± 4	± 12	± 14	± 25
Pressure Force [N]	150	200	400	800	1000	1600	2500	4000

 

Functional principle:

The position compensation takes place horizontally in the pushing or pulling direction through playless ball bearings. The insertion force is determined through pressure springs and the pressure of an integrated pneumatic cylinder. The base plate is driven out to monitor an approach or insertion motion; it is inserted to monitor a removal operation (see functional sketch). The movement of the base plate is detected through an inductive sensor. In case of quick process movements, pressure can also be applied to the cylinder to block the unit.

Information:
The Z-axis compliance wrist can be combined with a compliance wrist in the simplest. As integrated components of FM an ZN, they can be used universally for tolerance compensation of lateral and angular misalignment with simultaneous fault recognition for monitoring.

 

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Technical data Z-Axis Compliance Wrist ZN

Model ZN	50	80	100	125	160	200	250	300
Spring Force [N]	10/20	20/40	40/180	200/300	200/400	400/1000	400/1500	400/2000
Payload [kg]	1	2	2-3	5-8	20	40	160	300
Insertion Path [mm]	8	8	10	12	12	12	12	12
Force Range Pneumatic [N]	-	10-150	15-380	25-500	50-600	60-1700	70-1950	80-2200

 

Function Release turning angle about z-axis Reset into the zero position Store rotary offset Adjustable rotary force
Compensation Angle of rotation about the z axis
Compensation movements Up to ± 30°
Arias of application: Loading/unloading of workpiece carriers and machines Palletising Assembly

Function: Release the tipping angle about the x-y axes Release individual axis about the x or y axes Reset into the zero position
Compensation: Single axis tipping angle in the x-direction or in the y-direction
Compensation movements: Up to ± 5°
Areas of application: Loading/unloading of workpiece carriers and machines Palletising Assembly

Functional principle

Robot and tool adapter plates are held in position pneumatically and form a rigid unit under normal working conditions. The release forces or moments are presrcibed through the preset air pressure. In case of an overload, the adapter plates release. A sensor detects the extension and transmits a signal to the robot controller, which stops the robot unit. When the collision has been cleared and the tool returned to the vertical position again, the ULS/ULD unit returns to the starting position through two built-in centering pins.

The robot load limiter reacts to pressure forces in the z-direction, to moments about the x and y-axes and to torsional moments about the z-axis.

Technical Data Robot Load Limiter ULS

Model	ULS 60	ULS 80	ULS 100	ULS 125	ULS 160	ULS 200
Compensation in z-axis-direction [mm]	11,0	11,9	13,6	11,9	14,5	9,5
Compensation horizontal [grade]	8 °	10 °	12 °	10 °	7 °	4 °
Compensation torsion [grade]	360 °	360 °	360 °	360 °	360 °	360 °
" with Anti-rotation device [optional]	-	90 °	90 °	40 °	90 °	90 °
Axial Breakaway 1 - 6 bar [N]	113-680	181-1085	246-1477	453-2720	785-4710	1327-7960
Moment Breakaway 1 - 6 bar [Nm]	2 - 13	4 - 26	7 - 41	17 - 103	39 - 236	86 - 517
Repeatability [mm]	± 0,02	± 0,02	± 0,03	± 0,03	± 0,05	± 0,1
Weight [kg]	0,36	0,42	0,75	1,5	6,7	9,8
Force- / Moment Rang

Technical Data Robot Load Limiter with internal cable routing (ULD)

Model	ULD 60	ULD 80	ULD 100	ULD 125	ULD 160	ULD 200	ULD 250	ULD 300
Compensation in z-axis-direction [mm]	11,1	12,1	12,0	12,1	15,0	10,4	15,0	23,0
Compensation horizontal [grade]	9 °	11 °	9 °	11 °	5 °	4 °	5 °	5 °
Compensation torsion [grade]	40 °	40 °	40 °	40 °	40 °	40 °	40 °	40 °
Axial Breakaway 1-6 bar [N]	135-700	210-1100	300-1500	510-2755	830-4720	1380-6710	1509-9024	1834-11389
Moment Breakaway 1-6 bar [Nm]	3-15	5-28	8-45	18-106	43-241	91-382	108-544	119-714
Repeatability [mm]	± 0,02	± 0,02	± 0,03	± 0,03	± 0,05	± 0,1	± 0,1	± 0,1
Weight [kg]	0,39	0,46	0,83	1,65	3,58	5,78	12,4	17,5
Force- / Moment Rang

 

Large opening stroke Low construction Light weight

Gripper locking device for gripping inside and outside Synchronised gripper jaws

Functional principle:

The parallel movement of the finger is accomplished by a jaws and pinion drive. As a result of the pressure of two opposing pistions the jaws move in a synchronised way towards each other.

OPTIONS:

Sensors
Option C "gripper closed", Option O "gripper open". For the position of the inductive sensors please refer to the technical data of the gripper concerned.

Gripping Force Failsafe valve
A safety device for the gripping force by means of a spring is available as an option. The chuck stroke of the gripper is reduced by 50 %. The safety device can be applied for both inside and outside gripping.
Inside gripping = FS - 1
Outside gripping = FS - A

Pressure Medium
P = compressed air
H = hydraulic oil

Technical Data

Model	RPG 80-P	RPG 120-P	RPG 120-H
Max. air pressure [bar]	8	8	100
Gripping force at 6 bar [N]	1000	1000	-
Gripping force at 60 bar [N]	-	-	2000
Gripping force at 100 bar [N]	-	-	3000
Weight [kg]	8,5	9,0	10,5
Stroke [mm]	80	120	120
Displacement [cm³]	2x128	2x192	2x23,56

The electronic grippers in the EGS series are designed to cope with very difficult applications where a high degree of flexibility is needed.
All systems are of a strong mechanical construction which allows of a maintenance-free operation. To ensure that our system can be used to optimal effect in a wide range of different situations, we have designed 3 basic models for you to choose from.

Following basic versions are available:

EGS-EP Compact with a combined electro-pneumatic drive

• Great flexibility, because the opening width can be adjusted to any size
  you wish via the electric servo drive.
• Large gripping power and short travelling times via the pneumatic drive
• Extra measuring capabilities, such as the monitoring of parts dimensions

EGS-E Compact with a regulated electric servo drive

• Safe handling of sensitive parts
• Measuring and monitoring functions
• Can be used in clean rooms

EGS-E_LT Light with a simple electric drive

• In areas where there is no compressed air
• Especially suited for clean rooms

Functional principle:

Parallel guiding of the jaws via 2 guide rails for high loads in the gripper jaws Pneumatic drive via 2 double-action pneumatic cylinders Electric drive via gear rods from a central pinion via low-play gearing from a highly dynamic sturdy DC motor Microcontrolled steering integrated in the gripper housing (Typ Compact) Simple standard in the external housing (Typ Light) Execution of any control command via standard digital inlets and outlets Only one power supply (24 V)

Technical data:

Model EGS-	250-EP	250-E/-ELT	375/1-EP	375/1-E/-ELT	375/2-EP
Gripping force electrical [N]	-	155	-	180	-
Gripping force pneumatical at 6 bar [N]	155	-	330	-	330
Duration (for 19mm strokechange in s)	0,1	0,25	0,15	0,25	0,15
Stroke [mm]	19	19	25,4	25,4	50,8
Repeatability [mm]	<0,1	<0,1	<0,1	<0,1	<0,1
Electrical performance of servo [W]	10	25	25	30	25
Weight [kg]	1,23	1,28	1,56	1,59	1,56
Max. air pressure [bar]	8	-	8	-	8
Displacement [cm³]	3,75	-	9,78	-	19,56
Cylinder bore [mm]	16,0	-	22,22	-	22,22
Recommended payload [kg]	0,5	0,5	1,5	0,75	1,5

Technical data:

Model EGS-	375/2-E/-ELT	-500/1-EP	500/1-E/-ELT	500/2-EP	500/2-E/-ELT
Gripping force electrical [N]	180	-	330	-	330
Gripping force pneumatical at 6 bar [N]	-	690	-	690	-
Duration (for 19mm strokechange in s)	0,25	0,15	0,25	0,15	0,25
Stroke [mm]	50,8	38,1	38,1	63,5	63,5
Repeatability [mm]	<0,1	<0,1	<0,1	<0,1	<0,1
Electrical performance of servo [W]	30	40	75	40	75
Weight [kg]	1,59	3,2	3,4	3,7	3,9
Max. air pressure [bar]	-	8	-	8	-
Displacement [cm³]	-	29,5	-	49,1	-
Cylinder bore [mm]	-	32,0	-	32,0	-
Recommended payload [kg]	0,75	4	2	4	2