Three-point grippers HGD

Three-point grippers HGD

Key features

At a glance Double-acting piston drive Self-centring Variable gripping action: External/internal gripping Versatility thanks to externally adaptable gripper fingers Wide range of options for mounting on drive units Maximum precision High holding force Sensor technology: Adaptable proximity sensors on the small grippers Integral proximity sensors for medium and large grippers

-H-

Note

Sizing software Gripper selection www.festo.com

Mounting options for external gripper fingers (customer-specific) 1 Three-point gripper 2 External gripper fingers 3 Mounting screws 2 3

-H-

Note

Machining

Grinding dust

Grippers should always be used with exhaust air flow control. They are not suitable for the following, or for similar applications:

Aggressive media

Welding spatter

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Subject to change 2008/10

Three-point grippers HGD

Peripherals overview and type codes Peripherals overview HGD-16 System product for handling and assembly technology

1 HGD-32/-50

3 2

Accessories Type 1 2 3 4 Position sensor SMH-S1 Evaluation unit SMH-AE1 Proximity sensor SME/SMT-8

Brief description Adaptable and integratable sensor technology, for sensing the piston position For position sensor SMH-S1 For sensing the piston position Drive/gripper connections 10 10 10

Page/Internet

adapter kit

Type codes HGD Type HGD Size Position sensing A For proximity sensing Three-point gripper 16 A

2008/10 Subject to change

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Three-point grippers HGD

Technical data Function Double-acting

-W-

www.festo.com Wearing parts kits 9

-N-T-

Size 16 50 mm Stroke 5 12 mm

General technical data Size Design Mode of operation Gripper function Number of gripper jaws Max. applied load per external gripper finger1) Stroke per gripper jaw smallest gripping 2) largest gripping 2) Pneumatic connection Repetition accuracy3) Max. interchangeability Max. operating frequency Position sensing Type of mounting
1) 2) 3) Valid for unthrottled operation Without external gripper fingers Concentric to the central shaft

16 Lever mechanism Double-acting 3-point 3 0.08

32

50

[N] [mm] [mm] [mm] [mm] [mm] [Hz]

0.3

0.75 6 50 62 Gx

2.5 3.9 23 33.2 28 41 M3 M5 0.04 0.2 4 For proximity sensing With female thread and locating hole

Operating and environmental conditions Min. operating pressure Max. operating pressure Operating medium Ambient temperature Corrosion resistance class CRC1)
1)

[bar] [bar] [C]

2 8 Filtered compressed air, lubricated or unlubricated +5 ... +60 2

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 coolants or lubricating agents

Weights [g] Size HGD

16 110

32 300

50 985

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Subject to change 2008/10

Three-point grippers HGD

Technical data Materials Sectional view 2 Three-point gripper 1 2 3 Body Gripper jaw Cover cap Note on materials Nickel-plated aluminium High-alloy steel, nickel plated Polyacetate Copper, PTFE and silicone-free Conforms to RoHS

3 1

Gripping force [N] at 6 bar

Size Gripping force per gripper jaw Opening Closing Total gripping force Opening Closing Characteristic load values at the gripper jaws

16 40 30

32 137 120

50 323 293

120 90

410 360

970 880

The indicated permissible forces and torques apply to a single gripper jaw. Static forces and torques relate to additional applied loads caused by

the workpiece or external gripper fingers, as well as forces which occur during handling. The zero co-ordinate

line (gripper jaws point of rotation) must be taken into consideration for the calculation of torques.

Size Max. permissible force FZ Max. permissible torque MX Max. permissible torque MY Max. permissible torque MZ [N] [Nm] [Nm] [Nm]

16 34 0.5 0.8 0.5

32 90 1.6 2.8 1.9

50 173 4.7 8.1 5.3

2008/10 Subject to change

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Three-point grippers HGD

Technical data Mass moment of inertia [kgm2x10-4] Mass moment of inertia [kgm2x10-4] for three-point grippers in relation to the central axis, without external gripper fingers, without load.

Size HGD

16 0.14

32 0.79

50 6.10

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 6 bar operating pressure without external gripper fingers. The grippers must be throttled for greater applied loads. Opening and closing times must then be adjusted accordingly.

Size Without external gripper fingers HGD Opening Closing

16 5 5

32 10 10

50 10 10

With external gripper fingers (as a function of applied load) HGD 0.08 N 0.11 N 0.15 N 0.30 N 0.50 N 0.75 N 1.00 N 1.50 N 2.00 N

5 10 20 50

100 200 300

100 200 300

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Subject to change 2008/10

Three-point grippers HGD

Technical data Gripping force F per gripper as a function of operating pressure and the lever arm x Gripping forces Gripping torques can be determined with the following diagrams for the various sizes in relation to operating pressure and lever arm (distance from the zero co-ordinate line shown above to the pressure point at which the external fingers grip the workpiece).

External gripping (closing)

Internal gripping (opening)

HGD-16-A

F [N]

F [N]

x [mm] HGD-32-A

x [mm]

F [N]

x [mm]

F [N]

x [mm]

2008/10 Subject to change

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Three-point grippers HGD

Technical data Gripping force F per gripper as a function of operating pressure and the lever arm x External gripping (closing) Internal gripping (opening)

HGD-50-A

F [N]

x [mm]

F [N]

x [mm]

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Subject to change 2008/10

Three-point grippers HGD

Technical data Dimensions Size 16 Download CAD data www.festo.com

Size 32/50

Size 16/32/50

1 Sensor slot for proximity sensor SME/SMT-8 (not with HGD-16-A) 2 Compressed air connection, closing 3 Compressed air connection, opening 4 Drilled hole for locating pin (locating pins not included in scope of delivery) 5 Centring hole (user configured) Size [mm] 16 32 50 Size [mm] 16 32 50 Ordering data Size [mm] 16 32 50 32.6 44 56 B1 0.02 6 10 14 H3 13 13 25 H4 +1 8 10 16 4.5 6.5 7 3 3.5 5 6 6.5 10 21 22.5 34 12 16 22 11 11.8 16 4.5 8 9 2 3 4 19 36 54 H5 B2 B3 0.02/0.05 7 8 12 H6 M3 M5 Gx H7 D1 D2 H8 3 4 5 H8 D3 D4 3.2 3.7 6 H10 D5 30 45 70 H11 D6 21 32.4 49.4 H13 D7 D8 3 H7 20+0.02/+0.05 30+0.02/+0.05 L2 0.02 11.5 19 30 17.5 24.6 37 20 28.5 43 L3 H1 H2

M3 M3 M5 H9

M3 M3 M5 L1

60 78 107.5 L4

46 62 83.5 T1 0.5 4 4 6

Double-acting Part No. 174 819 161 837 161 838 Type HGD-16-A HGD-32-A HGD-50-A

Ordering data Wearing parts kits Size [mm] 16 32 50 Part No. 378 535 125 694 125 695 Type HGD-16-A HGD-32-A HGD-50-A

2008/10 Subject to change

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Three-point grippers HGD

Accessories Ordering data Type Position sensor SMH-S1 16 30 175 713

For size

Weight [g]

Part No.

Type

PU1)

Technical data Internet: smh-s1 SMH-S1-HGD16 1

Evaluation unit SMH-AE1 16 170 7 175 708 175 709

Technical data Internet: smh-ae SMH-AE1-PS3-M12 1 SMH-AE1-NS3-M12

1)

Packaging unit quantity

Ordering data Proximity sensors for T-slot, magneto-resistive Type yp of mounting g Switch output N/O contact Insertable in the slot from above, , flush with cylinder y profile p PNP

Electrical connection

Cable length [m] 2.5 0.3 0.3 2.5 0.3 2.5 0.3

Part No.

Technical data Type yp

Internet: sm

NPN Insertable in the slot lengthwise, g , flush with the cylinder profile N/C contact Insertable in the slot from above, flush with cylinder profile PNP PNP

Cable, 3-wire Plug M8x1, 3-pin Plug M12x1, 3-pin Cable, 3-wire Plug M8x1, 3-pin Cable, 3-wire Plug M8x1, 3-pin

543 867 543 866 543 869 543 870 543 871 175 436 175 484

SMT-8M-PS-24V-K-2,5-OE SMT-8M-PS-24V-K-0,3-M8D SMT-8M-PS-24V-K-0,3-M12 SMT-8M-NS-24V-K-2,5-OE SMT-8M-NS-24V-K-0,3-M8D SMT-8-PS-K-LED-24-B SMT-8-PS-S-LED-24-B

Cable, 3-wire

7.5

543 873

SMT-8M-PO-24V-K7,5-OE

Ordering data Proximity sensors for T-slot, magnetic reed Type yp of mounting g Switch output N/O contact Insertable in the slot lengthwise, g , flush with the cylinder profile N/C contact Insertable in the slot lengthwise, flush with the cylinder profile Ordering data Connecting cables Electrical connection, , left Straight g socket, , M8x1, , 3-pin 3p Straight g socket, , M12x1, , 5-pin 5p Angled g socket, , M8x1, , 3-pin 3p Angled g socket, , M12x1, , 5-pin 5p Contacting Contacting g

Electrical connection

Cable length [m] 2.5 0.3

Part No.

Technical data Type yp

Internet: sme

Cable, 3-wire Plug M8x1, 3-pin

150 855 150 857

SME-8-K-LED-24 SME-8-S-LED-24

Cable, 3-wire

7.5

160 251

SME-8-O-K-LED-24

Electrical connection, , right g Cable, , open p end, , 3-wire 3 Cable, , open p end, , 3-wire 3 Cable, , open p end, , 3-wire 3 Cable, , open p end, , 3-wire 3

Cable length [m] 2.5 5 2.5 5 2.5 5 2.5 5

Part No. 541 333 541 334 541 363 541 364 541 338 541 341 541 367 541 370

Technical data Type yp

Internet: nebu

NEBU-M8G3-K-2.5-LE3 NEBU-M8G3-K-5-LE3 NEBU-M12G5-K-2.5-LE3 NEBU-M12G5-K-5-LE3 NEBU-M8W3-K-2.5-LE3 NEBU-M8W3-K-5-LE3 NEBU-M12W5-K-2.5-LE3 NEBU-M12W5-K-5-LE3

10

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Subject to change 2008/10