Vacuum End Effector VEE Configuration - Configuration Help

Contents of the Configurator Help
General Information on the Configurator
Vacuum End Effector VEE Configuration
Basic Elements of the Vacuum End Effector VEE Modular System
Information on the End Effector Layouts
Information on the Workpiece Definition
Information on the Suction Pads
Information on the Vacuum-Module
Information on the Flange Plate
Information on the Flange Module
Information on the Flange Extensions
Information on the Blow Off Valve
Additional Options in the Product Configurator
Information on the Configurator Result
Disclaimer
Contact at Schmalz

General Information on the Configurator

This configurator makes it easier for you to configure the appropriate vacuum end effector for individual applications. You must input the following data for configuration:

  • Measurements of the workpiece or workpieces
  • Number of suction pads
  • Type of the suction pads
  • Size of the suction pads
  • Position of the suction pads

After configuration, you can download the following:

  • 3D CAD data for the end effector
  • Parts list containing the necessary components

You can request the listed VEE components from Schmalz within the configurator itself or check their availability in our online store, where they can be ordered directly.

Please note the following:
The VEE is shipped as individual parts. You will not receive a completely assembled gripper. The pipes are shipped in two lengths, 17.8 and 200 mm. Depending on the configuration, the long pipes must be manually cut to length according to the drawing.

The configurator is intended as a design aid only. It does not perform a plausibility check regarding the combination of the workpiece and the configured gripper version.

Vacuum End Effector VEE

Vacuum end effector VEE is a complete gripper system for use in fast pick & place processes in the packing industry.

Together with delta and SCARA robots, the vacuum end effectors make shorter cycle times possible. The end effectors are intended for use in primary and secondary packaging processes, such as for automatic filling of boxes in case packers or for applications in top loading machines and box and tray aligners. Thanks to the quick-change adapters, the vacuum end effectors are ideal for use in flexible packaging machines with frequent format changes.

The vacuum end effector is based on a modular system. This allows for fast and cost-effective configuration.

Vacuum End Effector VEE Configuration

Vacuum end effectors VEE can be assembled from modular elements that are matched to each other. During configuration, the number of suction cells and the distances between the suction cells can be changed. This allows the end effector to be optimally adjusted to the workpiece’s dimensions. The large selection of suction pad types optimizes the end effector for a variety of applications.

Schmalz recommends configuring vacuum end effectors VEE within the following limits:

  • Max. workpiece dimensions: 400 x 300 mm
  • Max. workpiece weight: 2,000 g
  • Max. number of suction pads: 12
  • Max. size of the vacuum end effector: 350 x 250 mm

Basic Elements of the Modular System

The VEE modular system consists of numerous components that can be combined with each other. The following components are required for the configuration:

Flange plates

  • Type-specific flange plates and a universal flange plate for connecting the vacuum end effector to the robot
  • Screws for installation on the vacuum end effector are included

Flange modules

  • Manual quick-change adapter with a bayonet fastener including the vacuum connector; can be connected to basic module without tools
  • With vertical and horizontal vacuum connector
  • Nominal flow of 20 m³/h or 60 m³/h

Basic modules

  • Basic component for configuring a vacuum end effector
  • Can be connected to the flange module via a bayonet fastener without tools
  • Central vacuum supply

Suction pads

  • Suction pad types that are primarily used in the packaging sector are available by default
  • By selecting “Configuration without suction pads” in the configurator, the vacuum end effector can be configured independent of the suction pads This allows for installation of almost all suction pads from the Schmalz range of products

The configurator includes the standard components; additional components or custom solutions are available on request.

Information on the End Effector Layouts

As a rule, any end effector version can be configured with our VEE modular system. Pre-configured layouts are available in the VEE configurator. Each layout of the vacuum end effector connects to the robot in the center (indicated by a black dot in the 2D drawings). All end effectors are designed symmetrically.

There are currently five basic types of these pre-configured vacuum end effectors:

  • Layouts that consist of only a basic module (VEE-QCF):
  • Layouts with one variable linear dimension:
  • Layouts with two variable linear dimensions:
  • Layouts with two variable linear dimensions and a somewhat more complex configuration:

The most suitable layout is determined based on requirements, workpiece distribution, workpiece weight, transport speed, etc. The layout can then be adjusted as needed.

Information on the Workpiece Definition

The vacuum end effector can pick up several workpieces during the pick process. The selection dialog “Number of workpieces per pick” allows you to simulate this in the configurator. The configurator shows which layouts are appropriate for this requirement.

The layer of individual workpieces is divided up symmetrically into columns and rows in the configurator and depends on the selected gripper layout. The distance between individual workpieces can be entered in the field “Distance between the workpieces [mm] [0-10]”.

Defining the workpiece layer:
Total length of all workpieces L [mm]: All workpieces in a pick process, including the distance between the individual workpieces, add up to the total length. That length cannot exceed 400 mm.
Total width of all workpieces B [mm]: All workpieces in a pick process, including the distance between the individual workpieces, add up to the total width. That width cannot exceed 300 mm.
Total weight of all workpieces [g]: All workpieces in a pick process cannot exceed the maximum total weight of 2,000 g.

Example:

Workpiece distribution for 4 workpieces and selected layout 4:

Workpiece distribution for 4 workpieces and selected layout 6:

Ensure that the workpieces are distributed as evenly as possible among the individual suction pads. Placement can be influenced by changing the linear dimensions (L1, L2).

Adjusting the length of the vacuum end effector:

Almost all layouts of the vacuum end effector are variable in length and/or width. For example, if the gripper system layout is marked with linear dimension markers L1 and L2, this means that two lengths can be influenced here. The following example for layout 8 shows the influence that an adjustment of the linear dimensions has on the layout:

Configuration 1
L1: 50 mm
L2: 100 mm

Configuration 2:
L1: 100 mm
L2: 100 mm

Information on the Suction Pads

Appropriate suction pad types and sizes have already been pre-selected for the basic layouts. The suction pads are primarily used in the packaging sector and, thanks to their characteristics, are perfectly suited for the requirements in packaging processes. Our range of products includes a variety of additional suction pads which can be used in combination with the VEE.

There are 6 different types of suction pads that are especially suitable for handling of packaging.

e.g.


Bags and flexible packaging:

Suction cup SPB2f:
Because of their flexible and highly adaptable sealing lip, bellows suction cups made from FDA-compliant silicone are suitable for handling a variety of bags, even those that have a high number of folds, are not very full or that swing during the handling process. The integrated support ensures that even thin and soft plastic films (LDPE) are not sucked in. The suction cups are available in diameters of 30 mm to 50 mm.

Suction cup SPB4f:
Because of their flexible and highly adaptable sealing lip, bellows suction cups made from FDA-compliant silicone are suitable for handling a variety of bags, even those that have a high number of folds, are not very full or that swing during the handling process. The integrated support ensures that even thin and soft plastic films (LDPE) are not sucked in. The suction cups are available in diameters of 30 mm to 50 mm.

Suction cup SPB4:
Bellow-shaped suction pads made of fda-compliant silicone are suitable for handling of instable packaging such as pouches and foils due to tightened shape and smooth sealing lip. There are diameters from 20 mm up to 50 mm.

Cardboard and stable packaging:

Suction cup SPF
Flat suction pads made of special material SPF with supporting ribs, tightened body, flexible sealing lip and low inner volume are suitable for handling of stable packaging such as cardboard boxes.

Suction cup SPB1
Bellow-shaped suction pads made out of special material Elastodur are suitable for handling of stable packaging such as cardboard boxes due to tightened body, big stroke and damping effect. There are diameters from 10 mm to 60 mm.

Suction cup SPB2:
Bellows suction cups made from the special ElastoDur material are particularly well suited to handling rigid packages such as cardboard boxes, thanks to their flexible and highly adaptable sealing lip and large suction cup stroke. The suction cups are available in diameters of 20 mm to 50 mm.

Further suction pads:
There is the possibility to configure without suction pads, if none of the three suction pad types named above are used. Therefore the thread of the connector lower shell has to be chosen. Please notice the maximum outline of the suction pad. Depending on layout of the vacuum end effector, it may happen that you can’t use suction pads with a very big diameter.

The suction pads are attached to the end effector by connection nipples. The desired thread version can be selected in the configurator. The following items must be taken into account here:

  • Suction pad diameter
  • Maximum interfering contour of the suction pad

The number of suction pads depends on workpiece size and weight. If several workpieces are gripped, the total size and/or total weight are always considered. As the number of suction cups increases, the available volume flow must be increased to ensure secure handling. This must be verified and confirmed within the process.
Depending on the selected suction pad type and size, the connection nipple for the suction pad changes. This may change the connection thread in the vacuum end effector’s half-shell.

Information on the Vacuum-Module

The vacuum-modules permit pneumatic vacuum generation right on the gripper. They are characterized by high suction capacity with low air consumption. The bayonet fastener makes it possible to quickly change the vacuum end effector without tools and guarantee fast and easy cleaning.

Two vacuum-modules with different nozzle sizes with/ without silencer are available:

  • VEE-QCMV HF 2 13 22 SD with ecoPump SEP nozzle 1,3 mm and silencer
  • VEE-QCMV HF 2 13 22 with ecoPump SEP nozzle 1,3 mm without silencer
  • VEE-QCMV HV 2 07 13 with ecoPump SEP nozzle 0,7 mm without silencer
  • VEE-QCMV HV 2 07 13 SD with ecoPump SEP nozzle 0,7 mm and silencer

Information on the Flange Plate

The flange plates are used to connect the vacuum end effector to the robot. Six different flange plates are available:

 

TypePart NumberFor robot typeWeight [kg]
FLAN-PL 63x11.5-UNI10.01.30.00017Universal flange for post-processing (customized solutions)0.068
FLAN-PL 55x7.5-AB110.01.30.00015ABB IRB 360 Flexpicker (except IRB 360-6/1600)
Fanuc-Parallel-Link M-1iA
Fanuc M-2iA
0.037
FLAN-PL 63x10.5-AD110.01.30.00016ADEPT QUATTRO s6500.065
FLAN-PL 55x9.5-JP110.01.30.00194Fanuc M-3iA
Yaskawa MPP3
Kawasaki Heavy YF03N
Murata MPS-3/MPS-4
ABB IRB 120
Stäubli TP80
ABB IRB-360-6/1600
0.035
FLAN-PL-55x7.5-EL110.01.30.00208Elau (Schneider Electric) Robot P40.048
FLAN-PL 80x9-ST110.01.30.00167Stäubli TS40, TS60 und TS800.130

Information on the Flange Module

The flange modules permit operation of the vacuum end effector with multi-stage ejectors (multi-stage Venturi nozzles) or side-channel compressors. The change adapter with a bayonet fastener makes it possible to quickly change the vacuum end effector without tools. Three different flange modules with different nominal flows are available:

  • VEE-QCM 30 with a nominal flow of 60 m³/h for vertical vacuum supply
  • VEE-QCM 51 with a nominal flow of 20 m³/h for horizontal vacuum supply
  • VEE-QCM 65 with a nominal flow of 60 m³/h for horizontal vacuum supply

Information on the Flange Extension

The Flange Extension is the solution to dipping into cardboard boxes or trays. The interface between the Flange Extension and the Vacuum-End-Effector is also the change adapter.

The Flange Extensions are available in three different lengths:

  • VEE-FE 25.4x79.5 with a total length of 79.5 mm
  • VEE-FE 25.4x129.5 with a total length of 129.5 mm
  • VEE-FE 25.4x179.5 with a total length of 179.5 mm

Information on the Blow-Off Valve

With a solenoid valve you can give a blow-off impulse to quickly release the workpiece in an automated application.

Additional Options in the Product Configurator

The configurator allows you to configure an appropriate end effector for each specific workpiece geometry and/or workpiece layer. The configuration is displayed as a 3D model.

The following additional options are available in the configurator:

  • “Hide workpiece”:
    Display of the 3D model without the workpiece, so the bottom of the end effector can also be viewed.
  • Configuration without suction pads:
    If suction pads that are not available in the configurator are to be used for the vacuum end effector, the option “Configuration without suction pads” can be selected.
  • Stabilizer element:Stabilizer elements are available for suction pads SPB4-30 and SPB4-40. These elements can be taken into account in the configuration by selecting the option “Stabilizer element”.

Information on the Configuration Result

After the configuration of the end effector, the configurator provides the following:

  • 3D CAD model
  • 3D PDF document
  • Detailed parts list
  • Option for requesting the modular system elements for assembling the end effector from Schmalz

Disclaimer

J. Schmalz GmbH, as a supplier and manufacturer of vacuum technology, takes no responsibility for the functioning of vacuum end effectors VEE in a specific process.
Any replacement of suction pads necessitated by a change in pad size, the addition of suction pads or the modification of the VEE configuration to optimize functioning is not the responsibility of J. Schmalz GmbH.
Changes to the packaging material, the goods which are packaged, the fill level or the air content in the packaging influence the entire handling process and the behavior of the workpieces.
We reserve the right to make technical changes to the products or to develop them further at any time.
The configurator does not perform a plausibility check regarding the combination of the workpiece and the selected configuration of the vacuum end effector.

Contact at Schmalz

Experienced systems consultants will be happy to support you in designing the appropriate vacuum system for your requirements. We can make use of our years of experience and accumulated expertise to define the appropriate solution together with you.

Customer center in Germany
Tel: +49 (0)7443 2403105
Fax: +49 (0)7443 2403-9105

kundencenter@schmalz.de

You can find contact information for our foreign subsidiaries and trade partners in 50 other countries at International Sales Partner