PUSHCORP AFD82 justerbar kraftenhed brugermanual

AFD82
Justerbar kraftenhedManuel

AFD82 Justerbar kraftenhed

HÅNDTER MED FORSIGTIGHED MÅ IKKE TABES

BRUG IKKE SMØRET LUFT.
This device requires a dry, nonlubricated 80 psi (5.5 bar) maximum air supply filtered to 5 µm and a 0.3 micron oil mist separator.
Manglende overholdelse af disse krav vil annullere producentens garanti. (Se afsnit 3.4)

All fasteners, mounting holes, and pipe threads on this tool are METRIC
All PushCorp, Inc. electrical cables are rated for high twist and flex robotic applications with a minimum cable bending radius specification of 125mm (5 in).
Cable damage resulting from failure to abide by this specification will not be covered under warranty.

BEGRÆNSET GARANTI

Varighed:
Et år fra leveringsdatoen til den oprindelige køber.

Who gives this warranty:
PushCorp
Telefon: (972) 840-0208
Virksomhedens adresse:
Postboks 181915
Dallas, Texas 75218
Forsendelsesadresse:
3001 W. Kingsley Rd.
Garland, Texas 75041

Who gives this warranty (purchaser):
Den oprindelige køber (bortset fra med henblik på videresalg) af PushCorp-produktet

Hvilke produkter er dækket af denne garanti:
Any PushCorp industrial equipment or accessory supplied of manufactured by the Warrantor.

Hvad er dækket af denne garanti:
Defects in material and/or workmanship which occur within the duration of the warranty period

What is not covered in this warranty:
A. UNDERFORSTÅEDE GARANTIER, HERUNDER SÆLGENDE GARANTIER OG EGNETHED TIL ET BESTEMT FORMÅL, ER BEGRÆNSET TIL ET ÅR FRA Datoen for det oprindelige KØB. Nogle stater tillader ikke begrænsninger for, hvor længe en underforstået garanti varer, så ovenstående begrænsninger gælder muligvis ikke for dig.
B. EVENTUELLE TILFÆLDELIGE, INDIREKTE ELLER FØLGETAB, SKADER ELLER UDGIFTER, DER KAN FØLGE AF ENHVER DEFEKT, FEJL, FEJL I PUSHCORP, INC.-PRODUKTET. Nogle stater tillader ikke udelukkelse eller begrænsning af hændelige skader eller følgeskader, så ovenstående begrænsning eller udelukkelse gælder muligvis ikke for dig.
C. Enhver fejl, der er et resultat af en ulykke, købers misbrug, forsømmelse, uautoriseret reparation eller manglende betjening af produkterne i overensstemmelse med instruktionerne i den eller de brugermanualer, der følger med produktet.

Garantistens ansvar under denne garanti:
Reparer eller udskift, efter garantigivers valg, produkter eller komponenter, der har svigtet inden for garantiperiodens varighed.

Købers ansvar under denne garanti:
A. Deliver or ship the PushCorp, Inc. product or component to PushCorp, Inc. Service Center, Dallas, TX. Freight and insurance costs, if any, must be borne by the purchaser.
B. Use reasonable care in the operation and maintenance of the product as described in the owner’s manual(s).

Når garantigiver vil udføre reparation eller udskiftning under denne garanti:
Reparation eller udskiftning vil blive planlagt og serviceret i henhold til det normale arbejdsflow på servicecenteret og afhængigt af tilgængeligheden af ​​reservedele. Købere, der har behov for hurtigere reparation, kan modtage en sådan mod betaling af et PushCorp, Inc. forudbestemt ekspeditionsgebyr.

Denne begrænsede garanti giver dig specifikke juridiske rettigheder, og du kan også have andre rettigheder, som varierer fra stat til stat.

GENERELT OVERVIEW

The PushCorp, 80 Series Passive AFD was designed as a low cost alternative to the 1100 Series Active Force Device. As such the 80 Series is a very basic unit that still incorporates several innovative features. To reduce operating friction and increase force accuracy the 80 Series uses glass pneumatic cylinders with graphite pistons, and linear ball bearings. It has two robot mounting configurations, and a table top mounting configuration. The 80 Series may be supplied to apply only a positive force, the AFD81, or both positive and negative forces, the AFD82.

80-serien kræver, at brugeren bruger mindst én trykregulator til at styre kraftudgangen. Hvis der specificeres en AFD82, kræves der to regulatorer. Enhedens lavfriktionskomponenter betyder, at kraftudgangens opløsning og repeterbarhed er meget afhængig af regulatorens nøjagtighed. Regulatoren kan være manuel eller elektrisk justerbar baseret på brugerens applikationskrav. Hvis kun ét kraftniveau er påkrævet, og AFD-retningen ikke ændres, er en manuel regulator tilstrækkelig. Hvis kraften og/eller AFD-retningen ændres under processen, kræves en elektrisk styret proportionalregulator. I nogle tilfælde skal procesudstyrets vægt tages i betragtning, så en konstant kraft kan påføres uanset AFD-retningen. Denne situation kræver beregning af regulatortrykket baseret på procesudstyrets vægt og AFD-retningen. For at overvåge slædens position skal AFD82 tilsluttes en DC-strømkilde og en analog inputenhed via et PushCorp high-flex-kabel.

Alle disse funktioner gør tilsammen PushCorp 80-seriens justerbare kraftenheder til robuste og pålidelige enheder, der er i stand til at levere ensartede resultater i et hvilket som helst antal industrielle applikationer.

INSTALLATION

3.1 Montering af procesudstyr
The AFD82 Adjustable Force Device can accommodate many different types of process equipment. PushCorp provides a variety of standard process equipment such as weld shavers, high speed motors, belt sanders, and other specialized tooling. Many end users also develop process equipment for their own proprietary applications. The AFD can be oriented parallel or perpendicular to the manipulator mounting flange, although it is important to note that the AFD can apply force only in the direction of Carriage translation.

When mounting process equipment to the Carriage extreme care should be taken while designing and installing the brackets. Correctly designed brackets will increase the stiffness of the Carriage by becoming an external superstructure for the Carriage. The Carriage can gain a tremendous amount of rigidity if this approach is executed correctly. Incorrectly designed bracketry will deform the Carriage causing internal Linear Rail misalignment. A symptom of Carriage deformation is “slop” or “binding” of the Carriage. A deformed or loose Carriage will damage the Linear Rails and effect the consistency of your process. The Carriage preload is correctly set at the factory and should not require adjustment. If the Carriage becomes loose or binds after installing the process equipment, then the brackets must be removed and the problem corrected. PushCorp, Inc. can design and fabricate brackets to user supplied specifications as an option.

The bolt pattern on the Carriage has been designed to facilitate process equipment installation. The Carriage has (14) fourteen M8x1.25 mounting holes with a depth of 0.52 inch (13 mm) to provide secure attachment points. The mounting holes are spaced as shown in Figure 1. The Carriage also has (2) two 5mm dowel pin holes to facilitate alignment. (See Figure 1 for location) These dowel pin holes are oversized to allow the pins to be glued into place using Loctite 609, or equivalent. Only utilize 4 of the M6x1 mounting holes; using more than 4 may cause warping of the carriage.

Care must be taken when designing and manufacturing brackets that will be mounted to the linear carriage. It is essential that these brackets maintain a face to face parallelism of at least 0.001” in order to prevent binding, which can lead to inaccurate applied force. As a result, we recommend using tooling plate for the stock material or Blanchard grinding the mounting faces.

If these options are not practical for your design, machined steps or the use of shims under bolted surfaces are also suitable. We recommend a height of 0.02” to ensure enough clearance between the carriage and the mounting plate.

Figur 3: Vognmonteringsbeslag – Shims

ADVARSEL: Tryk IKKE stifter ind i AFD-slæden, da dette vil beskadige de lineære skinner.
FORSIGTIGHED: The Fastener Tightening Torque Specs chart in Section 6.0 should be used to determine proper fastener length and torque for fasteners into the Carriage.
This is to prevent pull-out of the Carriage helicoid inserts. Fasteners must not exceed a depth of 0.52 inches (13 mm) into the Carriage as this could damage the Linear Rails.

3.2 Montering af AFD82
Grundkonfigurationen af ​​AFD82-kraftanordningen muliggør montering på en stationær monteringsanordning eller en monteringsflange til en robotmanipulator. Angivelse af en AFD80 -1, -2 eller -3 bestemmer, hvilket monteringsbeslag der medfølger. Adapterplader eller "hurtigskifte"-tilbehør kan også bruges til montering. AFD82 har (2) to 4 mm dyvelstifter presset ind i bunden til placering og justering af dækslet og monteringsbeslaget.

3.2.1 Montering af AFD80-1 vertikal og AFD80-2 horisontal
AFD80-1 og AFD80-2 leveres med et standard monteringsbeslag, som vist i figur 4. Der skal anvendes mindst (3) tre huller til at fastgøre monteringsbeslaget til robottens monteringsflange.

Hvis monteringsbeslaget leveres blankt, eller der kræves yderligere huller, skal det først fjernes fra enheden, før der bores. (4) Fire M8x1.25 indvendige skruer bruges til at fastgøre monteringsbeslaget til AFD82-kraftanordningerne. Når monteringsbeslaget er fjernet, kan monteringshullerne placeres hvor som helst inden for det krydsskraverede område, der er vist i figur 4. PushCorp, Inc. yder teknisk support til at bestemme monteringshullernes placeringer uden omkostninger.
Efter boring af det ønskede hulmønster fjernes eventuelle grater og eventuelle bearbejdningsrester fra monteringsbeslaget. Monteringsbeslaget kan derefter monteres igen.

3.2.2 Montering af AFD80-3 bordpladen
The AFD80-3 is designed for mounting on a stationary fixture. It has (3) three 0.28” (7.0 mm) mounting holes spaced as shown in Figure 5. The AFD80-3 Table Top Mounting Bracket should not be modified without first consulting PushCorp, Inc.

Figure 5: AFD80-3 Mounting Bracket Hole Locations

Figure 6: AFD80-3 Mounting Bracket Hole Locations

3.3 Maksimal vognbelastningsberegninger
De lineære skinnelejer, der understøtter AFD82-vognen, er udvalgt til at give optimal ydeevne med hensyn til kapacitet, størrelse og lav friktion. For at sikre fortsat optimal ydeevne er det meget vigtigt ikke at overbelaste disse lejer. Følgende diagrammer og tilhørende ligninger er tilvejebragt for at kontrollere din ansøgning for overdreven belastning.

It is important to note that these equations require the use of Metric units. The necessary conversions are provided for your convenience. Insert your maximum applied force and process equipment weight (W) and overhang distances (D) to calculate an actual bearing load (L) that must be less than the maximum bearing load shown on the right side of the equation. The life of the bearings is 100,000 meters of linear motion, at the maximum allowable bearing load value. Exceeding this value (L) will reduce the life, and operating at less than this value (L) will increase the life. It is common to have combined weight and force loads on the Carriage. These situations may require adding two or more of the scenarios shown below. If your application is not similar to any of the designs listed here, or if the information is not clear, please contact PushCorp Technical Support for assistance.

Hvis AFD blev købt før januar 2023, henvises til dokumentet på: https://pushcorp.com/product/obsolete-products/ for appropriate carriage load calculations.

3.4 Pneumatisk tilslutning
The AFD82 Adjustable Force Devices require a dry, non-lubricated, 5  m filtered, 80 psi (5.5 Bar) maximum air supply. Failure to provide supply air to these specifications can degrade performance and will void any warranty repairs concerning pneumatic components. Filtered air is required to prevent foreign material from entering the AFD.
The pneumatic supply system should be configured as shown in the Figure 7.

For at påføre kraft i den positive + retning, skal en forsyningsledning tilsluttes + tilluftporten på en AFD81 eller AFD82. For at påføre kraft i den negative - retning, skal en forsyningsledning tilsluttes - tilluftporten på en AFD82.

If water condensation is a problem in your air supply system, an air dryer device is highly recommended. The ideal solution is an industrial chiller dryer capable of reducing the dewpoint to less than 32 F (0 C). Moisture inside the AFD will cause premature failure that will not be covered under warranty.

In applications where the environment contains suspended particulate matter purge air flow must be used to ensure that the AFD remains clear of foreign matter. A Purge Port on the AFD82 (See Figure 8.) provides a pneumatic connection to supply this air flow.
Porten accepterer en metrisk R 1/8 tilspidset pneumatisk fitting. PushCorp kan levere fittings til engelske eller metriske rør. Indgangstrykket til udluftningsporten kan variere fra 10 PSI til 60 PSI (0.7 – 4.1 bar) med en flowhastighed på 0.5 til 2.0 SCFM (14 – 56 l/min) afhængigt af applikationen. Udrensningsluften skal være tør og ikke-smurt, men den skal dog kun filtreres til 20 mikron.

The Supply Line and Purge Line to the device should be 1/4 inch or 6mm diameter flexible polyurethane tubing. The tubing should be routed to the AFD such that there are no kinks and that there is plenty of slack to allow for manipulator motion. Before inserting the Supply Line or Purge Line into the force device air fitting, open the Shut-Off valve to blow out any contaminates which may be in the line. The tubing can now be pushed into the self-locking fitting located on the side of the AFD. Charge the Supply Line with compressed air and verify that there are no air leaks.

NOTE: PushCorp anbefaler stærkt brugen af ​​fleksible polyurethanslanger i modsætning til nylonslanger. Dette skyldes, at nylonslanger har en tendens til at klemme sammen, når de bøjes. Dette begrænser kraftigt luftstrømmen til AFD'en og forårsager ustabilitet.

For at fjerne forsyningsledningen skal du først aflade alt lufttryk i systemet, og derefter trække slangen ud, mens du trykker indad på fittingens plastring. Dæk eller tilslut den selvlåsende fitting, hver gang forsyningsledningen eller renseledningen ikke er tilsluttet. Dette vil forhindre eventuelle forurenende stoffer i at komme ind i AFD.

3.5 Internt luftpatronfilter
AFD82-kraftenheden indeholder et patronfilter i bundhuset. Patronfilteret er designet til at være den sidste forsvarslinje for at beskytte AFD'en mod kontaminering. Patronfilteret er ikke designet til at være det eneste middel til AFD's indblæsningsluftfiltrering. Det pneumatiske forsyningssystem skal konfigureres som beskrevet i afsnit 3.4. Hvis filteret tilstoppes, fungerer AFD82 ikke korrekt. Udskiftningspatronfiltre kan købes fra PushCorp (varenr. PAR01943-1) eller direkte fra producenten (Parker, varenr. 050-05-DQ). For at fjerne patronfilteret skal du løsne patronfilterholderen, der er placeret på siden af ​​AFD's bundhus. Se figur 8. Fjern patronfilteret, og udfør en visuel inspektion. Patronfilterets tilstand vil give en indikation af kvaliteten af ​​dit indblæsningssystem. Placer et nyt patronfilter på patronfilterholderen, og indsæt det i AFD's bundhus. Spænd patronfilterholderen til et moment på 10.2 Nm (90 lb-in).

NOTE: PushCorp anbefaler kraftigt, at luftpatronfiltrene udskiftes mindst én gang hver sjette (6) måned for at sikre korrekt lufttilførsel til udstyret.

ADJUSTING CARRIAGE PRELOAD

The required preload on the AFD82 Linear Rails has been set at the factory for optimal performance and, in general, should not require field adjustment. However, there are situations that could arise that cause the Linear Rails to need adjustment. Often a loose, or tight, Carriage on a new AFD is indicative of an improperly designed process equipment bracket. If the problem disappears when the brackets are removed then this is the case. Normally the Carriage will only require adjustment after removal for field service.

For at kontrollere, om der er en løs vogn, skal du forsøge at flytte slæden i en lateral retning som vist i figur 9. Hvis slæden bevæger sig eller ser ud til at udvise nogen "skråning", skal den lineære skinne-forspænding justeres igen. En skiveindikator er nyttig, men ikke nødvendig for at diagnosticere og rette en løs vogn.

En vogn, der er for stram, vil kræve yderligere kraft for at bevæge sig. Dette detekteres ofte under vægtningen af ​​procesudstyret monteret på vognen. Vægten vil være inkonsekvent, varierende højere eller lavere, hver gang procesudstyret vejes.

The Linear Rails are attached to the underside of the Carriage with (4) four M8x1.25 Socket Head Cap Screws. Located on the side of the Carriage are the two Preload Adjustment Set Screws used to translate the Movable Linear Rail. Moving the Linear Rail associated with the Preload Adjustment Set Screws is all that is necessary to adjust the Carriage preload.

Figure 9: Carriage Preload Adjustment

Følg nedenstående procedure for at udføre forspændingsjusteringen:

1. Check the tightness of the (2) two Fixed Linear Rail M8x1.25 Socket Head Cap Screws holding the Fixed Linear Rail opposite the Movable Linear Rail. If these fasteners are loose then the Fixed Linear Rail must be seated against the flange inside the Carriage. To do this, loosen all (4) four fasteners located on the face of the Carriage just enough to allow the Linear Rails to move. Next tighten the Preload Adjustment Set Screws to force the Fixed Linear Rail to seat against the flange. Tighten the (2) two Fixed Linear Rail M8x1.25 Socket Head Cap Screws, which hold the Fixed Linear Rail, to the torque specified in Section 6.0. The Fixed Linear Rail is now correctly seated and the Preload Adjustment Set Screws can be loosened. You are now ready to continue on to preload the Carriage Linear Rails.
2. For at forspænde vognens lineære skinner skal du løsne den bevægelige lineære skinne M8x1.25 topskruer, der kun holder den bevægelige lineære skinne nok til at tillade skinnen at bevæge sig i forhold til den indvendige vognoverflade. Vognen har slidsede huller på den bevægelige lineære skinneside, som tillader skinnen at bevæge sig i samme retning som forspændingsjusteringsskruerne. Sørg for, at den bevægelige lineære skinne M8x1.25 topskruer er løse, før du forsøger at indstille forspændingen.
3. If a dial indicator is available, place it against the Carriage surface that contains the Preload Adjustment Set Screws. Attempt to move the Carriage laterally while monitoring the dial indicator. If the reading on the dial indicator varies, then gradually tighten each of the Preload Adjustment Set Screws. Note that one of the Preload Adjustment Set Screws could require more adjustment than the other. When the dial indicator ceases to vary, the preload is set correctly. Do not continue to tighten the Preload Adjustment Set Screws. Too much preload on the Linear Rails will cause excessive friction resulting in force errors.
4. If a dial indicator is not available, the preload can be adjusted by feel. Attempt to move the Carriage laterally and feel for movement. If the Carriage moves rotate each of the Preload Adjustment Set Screws no more than 5 degrees. As soon as no lateral movement can be felt, stop rotating the Preload Adjustment Set Screws. Note that one of the Preload Adjustment Set Screws could require more adjustment than the other. Do not over tighten the Preload Adjustment Set Screws. Over tightening the Preload Adjustment Set Screws will result in excessive friction and possible deformation of the Carriage. (If the adjustment cannot be performed, contact the factory service center.)
   Slædeforspændingen skulle nu være korrekt.
5. After verifying that the Carriage no longer moves laterally, tighten the (2) two Movable Linear Rail M8x1.25 Socket Head Cap Screws on the Moveable Rail side to the torque specified in Section 6.0.

ELEKTRISKE FORBINDELSER

5.1 Tilslutning af vognpositionsfeedback
AFD82 er udstyret med et internt potentiometer, der giver en lydstyrketagSignalet er baseret på slædens lineære bevægelse. Volumentage signal is at a minimum when the Carriage is in the full negative position and a maximum when the Carriage is in a full positive position. A High-Flex Cable is used to connect the +24VDC supply, and analog signals to the force device. The connector is specially designed to minimize strain on the cable. The plug and socket is configured to make it impossible to connect them incorrectly.
Det lineære positionssignal skal kalibreres for hver installation. Brugerkalibrering udføres nemt ved hjælp af følgende trin.

1. Fastgør High-Flex-kablet til slædepositionsfeedback-stikket.
2. Fastgør High-Flex-kablets ledninger som vist i figur 10.
3. Flyt slæden til den fulde negative position.
4. Læs bindtage-signal på POSN-positionssignaludgangen. Optag denne bindtage til fremtidig reference. Dette vil blive omtalt som Vneg.
5. Flyt slæden til fuld positiv position.
6. Læs bindtage-signal på POSN-positionssignaludgangen. Optag denne bindtage til fremtidig reference. Dette vil blive omtalt som Vpos.
7. Vognens position kan nu bestemmes ved at måle strømmen voltage på POSN-positionssignaludgangen (Vm) og indsættelse af værdien i følgende ligning:

Hvor,

p = Carriage Position (in, mm)
Vm = Voltage målt på POSN-signalledning (V)
Vneg = Calibrated voltage at fully negative Carriage position (V), (0 inch, 0 mm)
Vpos = Calibrated voltage at fully positive Carriage position (V), (1.6 in, 40 mm)

Figur 10: Elektriske forbindelser

NOTE: Man skal sørge for, at alle signaler og voltage source commons er forbundet sammen på brugersiden for at undgå DC offset fejl.

Figure 11: Linear Potentiometer 24V Signal Connection

Figure 12: Linear Potentiometer 12V Signal Connection

ACHIEVING DESIRED FORCE

The AFD82 is a passive force device that requires the user to provide pressure to the pneumatic actuators. Pressure in the actuators results in an output force at the Carriage. If the AFD is always in the horizontal position or does not change orientation achieving the desired output force is easy. However, if the AFD changes orientation the pressure must be varied along the robot path.

Two system variables have to be considered when achieving a desired output force: the Weight carried by the AFD, and the angle of the Carriage with respect to gravity. The angle of the Carriage must be known so that the Weight can be compensated for. The Weight is the sum of the process equipment and the AFD Carriage itself. This value can be back calculated from the area and pressure in the pneumatic actuator. The best method to determine the Weight is with a calibrated load cell. The angle of the Carriage to the gravity vector is defined as shown below in Figure 13.

Figure 13: Definition of the Carriage Angle

The AFD82 is available in two configurations, the AFD81, and the AFD82. The AFD81 has a pair of single-acting pneumatic actuators, so it may only apply positive forces. The AFD82 has two pairs of single-acting actuators acting in opposite directions. This allows the AFD82 to apply both positive and negative forces. The area of the pair of cylinders is 1.4 in² (904.7 mm²) so, for every 1.0 psi (0.07 bar) of supply pressure the AFD applies 1.4 lbs (89 N/Bar) of force. This makes the AFD82 very easy to setup. To apply a 20 lbs. (89 N) force just set the supply pressure to 14.3 psi (1 Bar). This, however, does require the user to supply one (the AFD82 requires two) precision pressure regulator to accurately adjust the applied force. The pressure regulator may be either manually or electrically controlled proportional pressure regulators. The force output repeatability and resolution is directly related to the quality of the pneumatic regulator.

Følgende er ligninger, der definerer den påførte kraft fra hver AFD82.
AFD81 (Single Acting) Applied Force:

Fa = (1.4 X Ps) + (W + 9.0) cos(θ)
Fam = (89 X Ps) + 9.81 X(W + 4.1) cos(θ)

Hvor:

Fa = Net AFD applied force (lbs)
Fam Net AFD applied force (N)
Ps = Supply Pressure (psi or bar)
W = Weight (lbs or kg)
θ = Carriage angle relative to gravity (See Figure 12)

AFD72 (Double Acting Applied Force):

Fa=FpFn + (W + 9.0) cos(θ) [English Units]
Fam=Fpm Fnm + 9.81 X(W+ 4.1) cos(θ) [Metric Units]

Hvor:

Fa = Net AFD applied force (lbs)
Fam = Net AFD applied force (N)
F = Force in positive direction = (1.4 X Psp)(lbs)
Fn = Force in negative direction = (1.4 X Psn)(lbs)
Fpm = Force in positive direction = (89 X Psp)(N)
Fnm = Force in negative direction (89 X Psn)(N)
Psp = Positve side supply pressure (psi or bar)
Psn = Negative side supply pressure (psi or bar)
W = Weight (lbs or kg)
θ = Carriage angle relative to gravity (See Figure 12)

TEKNISKE SPECIFIKATIONER

Specifikationer kan ændres uden varsel.

FOREBYGGENDE VEDLIGEHOLDELSESPLAN

Det anbefales kraftigt at overholde den forebyggende vedligeholdelsesplan for at forlænge levetiden for det specificerede PushCorp, Inc.-udstyr. Undladelse af at gøre dette kan medføre tab af funktionalitet samt en forkortelse af produktets levetid.

Agency/Organization:____________
Date Completed:________________