Related Manuals for SCHUNK AGE-U
Summary of Contents for SCHUNK AGE-U
- Page 1 Translation of the original manual Assembly and Operating manual AGE-U Universal Compensation Unit...
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Page 2: Table Of Contents
Maximum load capacity and compensation resistance ........ 13 Design and description.................... 16 Design ......................... 16 Description ...................... 17 Compensation types................... 18 4.3.1 Lateral compensation ................ 18 4.3.2 Axial compensation ................ 18 4.3.3 Torsional compensation ................. 19 4.3.4 Angular compensation................ 19 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 3 Removing the product from the robot arm............ 36 Changing the overload pins, compression springs and workpiece stop..... 37 Assembly drawing.................... 39 Translation of original declaration of incorporation .......... 40 10 Annex to Declaration of Incorporation .............. 41 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 4 Imprint Copyright: This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights reserved. Any reproduction, processing, distribution (making available to third parties), translation or other usage - even excerpts - of the manual is especially prohibited and requires our written approval.
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Page 5: General
Dangers for persons! Non-observance 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. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 6: Definition Of Terms
A wide range of accessories are available for this product For information regarding which accessory articles can be used with the corresponding product variants, see catalog data sheet. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 7: Basic Safety Notes
Use of unauthorized spare parts Using unauthorized spare parts can endanger personnel and damage the product or cause it to malfunction. • Use only original spare parts or spares authorized by SCHUNK. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 8: Ambient Conditions And Operating Conditions
Due to its technical training, knowledge and experience, service Service personnel of personnel of the manufacturer is able to perform the delegated the manufacturer tasks and to recognize and avoid possible dangers. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 9: Personal Protective Equipment
• Eliminate any malfunction immediately. • Observe the care and maintenance instructions. • Observe the current safety, accident prevention and environmental protection regulations regarding the product's application field. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 10: Malfunctions
• If the energy supply is connected, do not move any parts by hand. • Do not reach into the open mechanism or movement area of the product during operation. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 11: Protection During Handling And Assembly
Falling and violently ejected components can cause serious injuries and even death. • Take appropriate protective measures to secure the danger zone. • Never step into the danger zone during operation. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 12: Technical Data
Compensation possible in all directions simultaneously but without maximum compensation in this case. More technical data is included in the catalog data sheet. Whichever is the latest version. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 13: Maximum Load Capacity And Compensation Resistance
Axial breakaway force in relation to the supply pressure Supply pressure Linear (proportional) curve Angular breakaway torque about X/Y-axis Supply pressure Regressive curve 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 14 M = F x A Maximum moment [lb(f)in] Sum of applied forces Distance between tool plate of the compensation unit and center of gravity of the applied load 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 15 Calculate angular displacement with tolerance margin for • variable values such as acceleration and velocity. Limit payload so as not to restrict the acceleration or • deceleration of the product during motion. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 16: Design And Description
Overload pin Compression spring Workpiece stop Housing, tool side Piston rod Tool plate O-ring Housing, robot side O-ring Air-relief valve Compressed air connection Bore hole for alignment pin 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 17: Description
"ON" position. During compensation, the piston is pushed back and the sensor switches to "OFF" position. To ensure that the sensor functions properly, observe the minimum operating pressure, Technical data 12] 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 18: Compensation Types
4.3.2 Axial compensation During pressure compensation, the tool-side housing moves along the Z axis in the direction of the robot-side housing. Pressure compensation Compensation in direction of Z-axis: 6.1 mm 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 19: Torsional Compensation
Compensation about Z-axis: ±8° 4.3.4 Angular compensation During angular compensation, the tool-side housing is tilted about the X or Y-axis. Angular compensation Compensation along X or Y-axis: ±3° 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 20: Assembly
M6 x 10, Strength class 12.9 customer Screw according to standard (4 Piece) DIN EN ISO 4762 or 6912 Tightening torque [Nm] 10.2 or 6.7 Bore hole for alignment pin Ø 6 H7 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 21: Requirements For Adapter Plates
For more information, see the following notes and illustrations. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 22 Correct mounting of the adapter plate (A = robot side, B = tool side) Connection Robot Tool Item 1 Flush Item 2 Centering collar Item 3 Alignment pin 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 23: Pneumatic Connection
Before starting any work on the product: Switch off the power • supply and secure against restarting. Make sure, that no residual energy remains in the system. • 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 24 • Secure all screws with Loctite. To do this, apply adhesive to the exposed screw threads. For information about adhesive, see Mechanical connection 20]. • Use adhesive only once. Always apply new adhesive if reusing fastening elements. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 25 (5). Tighten the screws (9). Tightening torque, Mechanical ✓ connection 20]. Mounting the product on the robot arm provided by customer (available from Schunk on request) 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 26 Connect the compressed air line and sensor cable. Ø Make sure that all cables are fastened, bunched and tension- ✓ relieved to ensure sufficient freedom of movement during operation. Perform a functional test. Ø 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 27: Mounting The Mms 22 Magnetic Switch
Pull the sensor (1) back again slowly until it activates. Ø Secure the sensor (1) using the set screw (3). Ø Tightening torque: 10 Ncm Bring the product into position and test for proper functioning. Ø 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 28: Installing The Protective Cover (Optional Accessory)
Switch off and deactivate all activated supply circuits (e.g. Ø electrical, air, water, etc). Place a circular spring (5) on the robot-side housing (2) above Ø the housing groove (3). 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 29 Place the other circular spring (7) over the protective cover into Ø the groove of the tool plate (4). Check whether the circular springs seal the protective cover Ø securely from above and below. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 30: Operation
NOTICE Reduction of life span Maintain the maximum allowable operating pressure for • adjustment of rigidity to avoid shortening the life of the product. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 31: Joining Parts
The robot lowers the pin. The flexibility of the product allows the pin to be centered in the beveled hole. The pin is positioned. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 32: Picking Up Parts
After the robot is retracted, the product is placed in the centered home position by applying compressed air. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 33 After the robot is retracted, the product is placed in the centered home position by applying compressed air. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 34: Monitoring Deflection
The sensor displays the current status of deflection: No deflection, the product is in the centered home position. OFF Deflection, the piston is moving, there is contact between the customer tool and workpiece. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 35: Troubleshooting
Mechanical connection 20] Damaged components Check components such as overload pins, compression springs and workpiece stop for damage; replace if necessary. Observe tightening torques and use threadlocker, Maintenance 36] 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 36: Maintenance
Support the product (3) and use a hexagon socket wrench to Ø loosen the locked screws (2) that fasten the product to the robot (1) or adapter plate. Remove the product (3). Ø 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 37: Changing The Overload Pins, Compression Springs And Workpiece Stop
Remove and discard the workpiece stop (5). Ø Using a clean cloth, remove any grease and dirt from the holes Ø and surfaces of the tool plate (9), housing (6), and piston cover (2). 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 38 ✓ Fasten the product to the robot and the end effector to the Ø product, Assembling and connecting the product 23]. Product is ready for further operation. ✔ 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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Page 39: Assembly Drawing
The following figure is an example image. It serves for illustration and assignment of the spare parts. Variations are possible depending on size and variant. Assembly drawing Wearing part, replace during maintenance. 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 40: Translation Of Original Declaration Of Incorporation
Person authorized to compile the technical documentation: Robert Leuthner, Address: see manufacturer's address Lauffen/Neckar, March 2019 p.p. Ralf Winkler, Manager for development of gripping system components 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... -
Page 41: Annex To Declaration Of Incorporation
1.3.1 Risk of loss of stability 1.3.2 Risk of break-up during operation 1.3.3 Risks due to falling or ejected objects 1.3.4 Risks due to surfaces, edges or angles 01.00 | AGE-U | Assembly and Operating manual | en | 1393226... - Page 42 Risk of slipping, tripping or falling 1.5.16 Lightning Maintenance 1.6.1 Machinery maintenance 1.6.2 Access to operating positions and servicing points 1.6.3 Isolation of energy sources 1.6.4 Operator intervention 1.6.5 Cleaning of internal parts 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 43 Supplementary essential health and safety requirements for machinery intended for underground work Supplementary essential health and safety requirements for machinery presenting particular hazards due to the lifting of persons 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
- Page 44 01.00 | AGE-U | Assembly and Operating manual | en | 1393226...
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