OPERATING INSTRUCTIONS SoftGripper and SoftActuators Original Instructions This document describes the usage of the SoftGripping SoftGripper and SoftGripping SoftActuators Revision 2.
SoftGripper and SoftActuators Operating Instructions Tip: For your own safety, read the operating instructions and follow the warning and safety instructions on the device and in the operating instructions. Keep the operating instructions for future reference. Tip: If you wish to get the operating manual in an additional language, please send us your request and the corresponding product code via Email. Warning! Not reading the manual properly can lead to injuries.
SoftGripper and SoftActuators Operating Instructions Contents 1. About this document ................................................................................................................................................................................. 3 1.1. 2. Applicable documents................................................................................................................................................................... 3 Safety ..........................................
SoftGripper and SoftActuators Operating Instructions 1. About this document This document describes the usage of the product, certain aspects of the device are described in other documents and must be observed as well. 1.1. Applicable documents You can find additional information in the Quick Installation Guides and data sheets. For all available documentation visit our website or contact us directly. 2. Safety 2.1.
SoftGripper and SoftActuators Operating Instructions 5. Overview Figure 1: SoftGripper and SoftActuator SoftGripping comes in two editions: SoftGripper and SoftActuator. SoftGripper are built from one piece. But you can switch the adapter for the specific robot and replace the fingers. Angle and base remain unchangeable. Made for the selected gripping purpose. Designed for humanrobot interactions with Cobots and high-speed applications with delta or scara robots.
SoftGripper and SoftActuators Operating Instructions Grip Release Relax Figure 2: Three states of SoftGripping 5.1. SoftGripper In the following modularity of SoftGripper is presented. It´s the Base, the Fingers and the Robot Connector. These things are connected with a few screws and seals. Here is an example with a 2-Finger parallel Gripper for a robot with ISO 9409-31,5-4-M5 flange. We provide connectors for any robot. If you cannot find the connector on our website, please contact us directly.
SoftGripper and SoftActuators Operating Instructions 5.2. SoftActuator The SoftGripping SoftActuator series is built for maximum flexibility. Actuators with single or multiple fingers are used for light, adjustable and fast SoftGripper. SoftActuators can be mounted on our SoftGripping Plates or you can build your own EoAT according to your needs. Figure 4: 4-Finger Gripper with SoftActuators 1-Finger SoftActuator SG:AN.F1.S60 Mass 40 g 2-Finger SoftActuator SG.AN.F2.
SoftGripper and SoftActuators Operating Instructions 6. Installation For mechanical installation: Make sure to use the right screws and sealings and make sure to tighten the screws with right torque, so no parts can disconnect during operation. For pneumatical installation: Make sure to use the right diameter of tubing and your pneumatic setup not to exceed the maximal operating pressure. Connect the tubing to the corresponding connectors.
SoftGripper and SoftActuators Operating Instructions 6.1. SoftGripper Depending on the selected product, a SoftGripper comes assembled or unassembled. The following steps shows you how to install your SoftGripper. These steps are also to be used for replacement of the components.
SoftGripper and SoftActuators Operating Instructions D Finger Fixing Screw M3x20 ISO 7380 (TX) J Sealing (3x1 mm) Figure 6: Mounting a SoftGripper Finger Mounting or Replacing a SoftGripper Robot Connector To replace a SoftGripper Robot Connector B, loosen the both fixing screws A (M5x8) on top of the Robot Connector. For replacing we recommend to use new sealings K (2 pc. 5x1,5 mm , 1 pc. 28x1,5 mm). The screw can be further used.
SoftGripper and SoftActuators Operating Instructions Install or Replace SoftGripper Accessories (Suction Cup, Spacer) SoftGripper with up to 4 Fingers have the option of mounting an additional suction cup. SoftGrippers with more than 4 fingers only have a mounting thread for accessories such as spacers, not for suction cups. All SoftGripping Bases have a centric mounting thread M (M5 thread) for additionally accessories.
SoftGripper and SoftActuators Operating Instructions Warning! Use compressed air according ISO 8573-1:2010 [7:4:4] with maximum pressure 1,2 bar! Connect the tubing to the corresponding push-in-fittings H and C. Robot Connectors always have 2 of it. The function depends on your selected SoftGripper. SoftGripper with up to 4 Fingers have the option of mounting an additional suction cup. Accordingly, one of the push-in-fitting is for supplying the fingers, the other for the suction cup.
SoftGripper and SoftActuators Operating Instructions 6.2. SoftActuators SoftActuators are built to be used for highly flexible, very easily modifiable gripping systems. They can be used with our plates or with a base of your own design. SoftActuators have an integrated air connector. The following steps shows you how to install your SoftActuator. These steps are also to be used for replacement of the components.
SoftGripper and SoftActuators Operating Instructions Mounting or Replacing a SoftActuator Finger To replace a SoftGripper Finger, loosen the finger fixing screw D on the actuator base E (M3x20 ISO 7380 TX). Take a new Finger F (Part No. SG.FI.S60). For replacing we recommend to use a new 3x1 mm sealing G. The screw can be further used. To mount a SoftGripper Finger at an actuator base, take the truss head (TX) screw D M3x20 ISO 7380 and the 3x1 mm sealing G. Use a torque screwdriver to mount with 0,7 Nm (0.
SoftGripper and SoftActuators Operating Instructions I Plate to Robot Connector Fixing Screws (M5) Figure 13: Mounting of a SoftActuator Robot Connector Mounting or Replacing a SoftActuator Base to a Plate SoftActuator Bases have M5 threads on top for mounting on every type of plate or profile.
SoftGripper and SoftActuators Operating Instructions C Actuator Base Fixing Screws (M5) Figure 15: Mounting SoftActuator to a Plate Base Install a SoftActuator on Robot and pneumatic system Make sure to use the right robot connector. Please check the manual and further instructions of your robot. If you use the Robot Connector A for your robot, use the supplied screws B to mount a SoftGripper to your robot tool flange. E.g.
SoftGripper and SoftActuators Operating Instructions Figure 16: Gripping System with SoftActuators 7. Starting Procedure For starting the setup, please consult the operating instructions of your robot and your pneumatic setup. If you use the SoftGripping ControlBox, check our operating instructions for it. 8. Operation For operating the setup, please consult the operating instructions of your robot and your pneumatic setup. If you use the SoftGripping ControlBox, check our operating instructions for it.
SoftGripper and SoftActuators Operating Instructions 9. Decommissioning Turn off the air compressor. Before disconnecting any tubing, be sure that the system is not pressurized. Store the SoftGripper under dry conditions. Avoid abrasive and corrosive storing conditions. Do not disconnect the pneumatics while the system is still pressurized. 10. Maintanance and Troubleshooting If you find problems using the system, please follow the following steps checking the components: 1. Are all connections made? 2.
SoftGripper and SoftActuators Operating Instructions If your device malfunctions, contact the manufacturer directly: Wegard GmbH Kirchenheide 18 22395 Hamburg Phone: +49 (0)40 319 76 995 E-Mail: info@soft-gripping.com 12.3. Declaration of Conformity The declaration of conformity can be obtained directly from the manufacturer. 12.4. Disposal Old devices or dismantled old assemblies can be returned to the manufacturer or a certified disposal company for proper disposal. info@soft-gripping.com www.
