76

PGF2-Finger Parallel GripperUniversal long guide gripper

Kineticswedge system, for high power transmission and parallel gripping

Base jawsfor mounting the workpiece-specific gripper fingers

Guidanceextremely precise to provide high repeatability, largeload capacity and optimal service life

Location and mounting gripper has universal mount from 3 sides

Housingweight optimized using high-strengthhard-anodized aluminum alloy

Drivepowerful pneumatic system

77

PGF

Benefits Technical data

● flat guides provide extremely good guiding properties● compact design ● light weight● extremely high gripping forces● very reliable and long-wearing● suitable for high torques and moments● suitable for I.D. and O.D. gripping● base jaws ground to fit housing● variable gripping range● universal connection● stroke monitoring using flexible position or proximity switch● detailed operating and maintenance instructions● proven over thousands of applications● 12 month warranty

Operating principle:wedge and piston design with mechanically restricted guides

Material:the housing is high-tensile, hard-coated aluminium alloy. Functional components are hardened steel

Operation:pneumatic, filtered compressed air (10 µm [3.937 mils]), dry or lubricated

Operating pressure range:from 3.5 to 8 bar [51 to 116 psi]

Installation:various positions

Operating temperature range:5° to 60° C [41°F to 140°F]. Version suitable for use up to 130° C [266° F] available on request

Parts supplied:bracket for proximity switch, fastening screws, centering pins, O-rings for directconnection, operating and maintenance instructions, manufacturer's declaration

Gripping force safety in the event of a power failure:option with integrated spring or pressure maintenance valve

Accessories:proximity switch, flexible position sensor, finger blanks (special order)

Hydraulic version:available on request

PGF

50PG

F 64

PGF

80PG

F 10

0PG

F 12

5Picture shows custom fingers

84

PGF 100

* in addition to the gripping force

Fa = 800 N[180 lbf]

Mx =20 Nm

[14.8 lbf·ft]

My =20 Nm

[14.8 lbf·ft]

Mz = 15 Nm[11.1 lbf·ft]

Lmax. =100 mm[3.937 inch]

1000

800

700

00[0]Finger length L in mm [inch]

Grip

ping

forc

e in

N

Grip

ping

forc

e in

[lbf

]

20[0.787]

40[1.575]

60[2.362]

100[3.937]

80[3.150]

900

1100

1200

225

180

157

0

202

247

270

Max. admissible forces and moments at the gripper fingers *

for bore Ø 12H7± 0.1 for bore Ø 8.5

82 ± 0.02 [3.228]

± 0.02 for Ø 10H7

A

Closed Open

Sleeve Ø 12f7 (2x)for gripper connection Section A – A

Sleeve Ø 10f7 (4x)for finger connection

M6 / 14 [0.551]deep (2x)

for lubricating nipple(both sides)

Proximity switch2 eachId.-No. 301 508 orId.-No. 301 408

36 ±

0.0

2 [1

.417

]

for

bore

Ø 1

2H7

± 0.

1 fo

r bo

re Ø

8.5

G1/8" / 10 [0.394]deep (2x)

16 [0.630]

125 [4.921]

A P

Y

74.25 [2.923]

10 min. [0.394]

10 min. [0.394]

16[0.630]

16[0.630]

16[0.630]

16[0.630]

12[0.472] 56

[2.205]

Stroke 23.5 [0.925]

55.7

5[2

.195

] 25[0

.984

]6.

8[0

.268

]6.

8[0

.268

]

16 [0.630]

± 0.02 for Ø 10H7

16

[0.6

30]

56 [2.205]

45 ±

0.0

2 [1

.772

]

for

bore

Ø 1

2H7

± 0.

1 fo

r th

read

M8Closed

Open

28[1

.102

]

M5 / 5.5 [0.217] deep (4x)

82 ± 0.02 [3.228]for bore Ø 12H7± 0.1 for thread M8

OpenClosed

3[0.118]

44.5

[1.7

52]

65 (4

x)[2

.559

]

Ø 8

.5 [Ø

0.3

35]

(2x)

121

[4.7

64]

115

[4.5

28]

3 [0.1

18]

21[0

.827

]

Ø 1

5 /

13 d

eep

(2x)

[Ø 0

.591

] / [0

.512

] M5 / 10 [0.394]deep (2x)

Ø 11 (4x)[Ø 0.433]31.6

[1.244]

64 [2.520]

Ø 6.8 (4x)[Ø 0.268]

M8 (4x)

56 [2.205]

100 [3.937]

148.5 [5.846]

M6 (6x)

25[0

.984

] 13

(6x)

[0.5

12]

3 [0

.118

]

30[1

.181

]

Closed Open

Dimensions for PGF 100

M5

1[0.039]

GripperO-ringØ 4 x 1.5

Hose-free direct connectionAdaptor

Ø 4 [

0.157

]

Ø 7 [

0.276

]

16 [0.630] 1.3[0.051]

52[2.047]

32.3 [1.272]

11[0.433]

6.5[0.256]

FPS-S 13

10 [0

.394

]

23.5

[0

.925

]63

.5 [2

.500

]

Gripping force diagramIn relation to the finger length L at 6 bar [87 psi]

PGF 100PGF 100 - ASPGN 100 - IS

Dimensions for PGF 100with FPS monitoring

= compressed air connection

85

PGF 100

PGF

50PG

F 64

PGF

80PG

F 10

0PG

F 12

5

Inductive proximity switchesEasy to fit with LED lamp. For technicaldetails see chapter ”Accessories”.

Type Id.-No.INW 80/S* 301 508 or 301 408

* S = Normally open

Accessories for PGF 100

Type PGF 100 PGF 100 AS PGF 100 ISId.-No. 340 380 340 381 340 382Stroke per finger mm [inch] 23.5 [0.925] 23.5 [0.925] 23.5 [0.925]Gripping force at 6 bar [87 psi]* N [lbf] 880 [198] 1150 [259] 1200 [270]Workpiece weight (recommended) ** kg [lbs] 4.4 [9.700] 4.4 [9.700] 4.4 [9.700]Air consumption per double stroke cm3 [inch3] 154 [9.394] 154 [9.394] 154 [9.394]Opening time 0.15 s 0.25 s 0.16 sClosing time 0.15 s 0.16 s 0.25 sMass kg [lbs] 2.35 [5.181] 2.85 [6.283] 2.85 [6.283]Mass moment of inertia Iy kg cm2 [lb·inch2] 34 [11.621] 36 [12.305] 36 [12.305]Repeatability *** mm [inch] 0.03 [0.001] 0.03 [0.001] 0.03 [0.001]Max. finger length mm [inch] 100 [3.937] 100 [3.937] 100 [3.937]

Gripping force maintained by spring * N [lbf] 270 – 460 270 – 460[61 – 103] [61 – 103]

Closing or opening time with spring only 0.7 s 0.7 s* Gripping force is the arithmetic sum of the individual forces occuring at the jaws at distance “P“ at 6 bar [87 psi].

** Value at µ = 0.1 and υ = 2. Values are higher with form fit fingers. Please also consider the gripping force maintained by spring.*** After 100 consecutive strokes worst case.

2-Finger Parallel Gripper PGF 1002-Finger Parallel Gripper PGF 100 with mechanical grip force safety device: O.D. (AS) and I.D. (IS) gripping

Type Id.-No.AS-PGF 100 302 734

FPS-S 13 301 705FPS-A 5 301 800

Flexible Positioning Sensor FPSStroke monitoring of up to 5 positions witha Flexible Positioning Sensor FPS is possiblewith PGF 100. For technical details seechapter ”Accessories”.

Gripping force safetyOperating pressure min. 4 bar [58 psi], max. 6.5 bar [94 psi]. PGF AS/IS, dimensions not altered by gripping force safety device.Gripping force = pneumatic gripping force + spring force

Note: Pressure maintenance valve SDV-P can be used as an alternative to mechanical gripping force safety device for O.D. and I.D. gripping.(See chapter ”Accessories”)

System modules and additional accessories for PGF

Note

Please note that the life span of these units can be reduced quite considerably if they are used in extreme conditions(e.g. where coolant is used, or dust from casting or grinding processes is present). We cannot be held responsible inthese cases. Solutions do exist for many problems – please contact us to find out more.

The PPG-F range is still available if you need a replacement!

We recommend the new PGF for new applications.

Swivel unitsFor compatible swivel units and swivelheads see chapter ”Swivel Units”.

Linear unitsFor compatible linear units see chapter”Linear Units”.

Compensation unitsFor compatible compensation units seechapter ”Robot Accessories”.

Gripper changing systemsFor compatible gripper changing systemssee chapter ”Robot Accessories”.

Custom solutionsWe can supply cost-effective custom solu-tions, customized fingers, adapter platesand complete units to suit your specializedrequirements quickly.

Additional accessories Gripper pads to increase friction factors,pressure maintenance valves or multipleconnectors for proximity switches are foundin our chapter ”Accessories”.