Vacuum Technology for Handling

Perfected by Rexroth
2
Move more with less air.
Energy-efcient vacuum technology
from Rexroth
If you know a subject inside out, you are in the best position to deal with
outside pressure. Vacuum systems are ideal to move objects precisely and
reliably, while being gentle and efcient provided you know how to do it.
Our vacuum technology combines perfect components with an optimum
system layout.
Vacuum technology for handling | Expertise
3 Expertise | Vacuum technology for handling
Industry expertise
Our combination of technical and industry expertise makes
all the difference. Together with our customers, we have
expanded our know-how and developed our product range
to exactly meet the needs of their respective industries.
The result? Products, systems, and complete solutions that
are best in class in all respects and exactly t your needs.
Talk with one of our industry experts available throughout
the world.
04 Basics of vacuum technology
06 Vacuum components
06 Suction grippers
08 Mounting elements and ow valves
10 Vacuum generators
12 Non-contact gripping
13 Vacuum sensors and displays
14 Filters and connection elements
16 System layout
Best in class in all respects
A systematic approach with many benets
There are good arguments, both technical and economical,
for using vacuum technology for your handling tasks.
For many applications it may even be the only reasonable
method for automation, as it is both powerful and sensitive,
making it ideal for moving hard-to-grip or extremely fragile
workpieces in a safe and gentle manner. An extensive range
of congurable components makes vacuum technology one of
the most exible options the perfect way to implement
individual handling solutions with comparably little effort
for planning and assembly.
Versatile, exible technology for use in many industries and f
applications
Handling of a wide variety of objects, materials, and shapes f
Gentle handling without any mechanical stress on the f
workpiece
Perfect individual
components are one
prerequisite technical
system expertise is another.
Rexroth can offer you both
at the highest possible level.
4 Vacuum technology for handling | Basics
What is a vacuum?
According to its denition, a vacuum is a space empty
of matter with an absolute pressure of 0 bar = absolute
vacuum. However, an absolute vacuum is just a theoretical
state that cannot be produced on earth. In general, for
technical purposes any negative deviation from the normal
atmospheric pressure of 1.013 bar is considered an
underpressure or vacuum and is usually given in -bar or
as a relative percentage.
Relative/absolute value
Vacuum handling generally uses the relative value of
a vacuum, which indicates the relation to the respective
ambient pressure. The starting point for the ambient
pressure is zero. Therefore, a vacuum of 60 % at sea level
(atmospheric/ambient pressure = 1.013 bar) equals a
vacuum of approx. -0.6 bar or an absolute pressure of
approx. 0.4 bar.
Atmospheric effect on vacuum technology
The altitude of the production location is an important
factor for determining the right layout of vacuum components.
The ambient pressure decreases by approx. 12.5 mbar for
every 100 m increase in altitude; the achievable vacuum
value and possible holding force of a suction gripper
decreases proportionately. At a height of 2,000 m above
sea level, the ambient atmospheric pressure is only 0.763 bar.
Here, a degree of vacuum of 60 % will only create a vacuum
of approx. -0.45 bar or an absolute pressure of approx. 0.3 bar.
What is the relationship between pressure and force?
Whether pressure or vacuum, both produce forces that can
be used for handling tasks. Force is always the product of
pressure and effective surface area:
F = p x A; F = force, p = pressure, A = area.
As the factor p in vacuum applications is limited to the level
of the ambient pressure the holding force must be adjusted
via the surface area parameter.
Reliably working with vacuum demands
specialized expertise. Vacuum technology is
unique and follows specic scientic laws.
The holding force is proportional to the degree of vacuum
and the surface area of a suction gripper. For example,
a suction gripper with 16 mm diameter with a 60 % vacuum
at an atmospheric pressure of 1.013 bar, produces a holding
force of 8 N. It is also important to take into consideration
that force decreases at higher altitudes. At 2,000 m altitude,
the holding force in this example would drop by about 25 %
to around 6 N.
P1 = ambient pressure
P2 = vacuum pressure
P1
P2 < P1
0 bar 100 % -1.013 bar
0.2 bar 80 % -0.8 bar
0.4 bar 60 % -0.6 bar
0.6 bar 40 % -0.4 bar
1.013 bar Relative vacuum
Atmospheric pressure 0 % 0 bar
1.4 bar
Absolute pressure
Absolute vacuum
Energy required for vacuum generation
The energy required to generate a high vacuum increases
disproportionally to the achieved degree of vacuum.
Increasing the vacuum from 60 % (-0.6 bar) to 90 % (-0.9 bar)
results in an increase in force by a factor of 1.5, but the
energy requirement increases by a factor of 3. In order
to achieve the optimum and most efcient working range,
the degree of vacuum should be a maximum of 80 %:
For dense surfaces 60 % to 80 % f
For porous surfaces 20 % to 60 % f
Technical symbols:
Symbols are often used in vacuum technology for specic parts or components.
Below is an overview of a few of the most important Rexroth symbols:
Filter Vacuum/
pressure switch
Flow valve Non-return valve Flat suction
gripper, single-lip
Bellows-type
suction gripper
Spring-loaded
plunger
Ejector,
single-stage
Vacuum ranges:
The level of the vacuum required depends on the application. A relatively low vacuum, or rough vacuum, is suf-
cient for vacuum handling. The pressure range of a rough vacuum is from -1 mbar to -0.9 bar.
The following table compares the values for absolute and relative pressure.
Force
Energy
-0.1 -0.2 -0.3 -0.4 -0.5 -0.6 -0.7 -0.8 -0.9 0
Vacuum
in bar
Vacuum/pressure conversion table
Absolute
res. press. [mbar]
Relative
vacuum
bar N/cm kPa atm, kp/cm mm HO Torr; mm Hg in Hg
900 10 % -0.101 -1.01 -10.1 -0.103 -1030 -76 -3
800 20 % -0.203 -2.03 -20.3 -0.207 -2070 -152 -6
700 30 % -0.304 -3.04 -30.4 -0.31 -3100 -228 -9
600 40 % -0.405 -4.05 -40.5 -0.413 -4130 -304 -12
500 50 % -0.507 -5.07 -50.7 -0.517 -5170 -380 -15
400 60 % -0.608 -6.08 -60.8 -0.62 -6200 -456 -18
300 70 % -0.709 -7.09 -70.9 -0.723 -7230 -532 -21
200 80 % -0.811 -8.11 -81.1 -0.827 -8270 -608 -24
100 90 % -0.912 -9.12 -91.2 -0.93 -9300 -684 -27
Units for pressure and vacuum:
The units pascal [Pa], kilopascal [kPa], bar [bar] and millibar [mbar] are the most accepted units
for vacuum technology.
Vacuum/pressure conversion table
bar N/cm kPa atm, kp/cm mm HO Torr; mm Hg in Hg
bar 1 10 100 1.0197 10197 750.06 29.54
N/cm 0.1 1 10 0.1019 1019.7 75.006 2.954
kPa 0.01 0.1 1 0.0102 101.97 7.5006 0.2954
atm, kp/cm

0.9807 9.807 98.07 1 10332 735.56 28.97

mm HO 0.0001 0.001 0.01 0.0001 1 0.074 0.003
Torr; mm Hg 0.00133 0.01333 0.1333 0.00136 13.6 1 0.0394
in Hg 0.0338 0.3385 3.885 0.03446 345.4 25.25 1
6 Vacuum technology for handling | Suction grippers
Suction grippers for safe and
gentle handling
Rexroth covers the whole spectrum
They should get a grip on everything both powerfully and gently. They
must not only be the perfect t for the individual shape, surface, and mate-
rial, but must also guarantee the required holding force throughout the
entire process. This notion might be difcult to grasp, but they can do it!
How does a suction gripper work?
The special shape and material of a suction gripper create
an almost air-tight connection with the workpiece. Once
a vacuum is created in the interior volume of the suction
gripper, the ambient pressure pushes the workpiece up
against the gripper. It is therefore not suctioned up, but
instead is pressed against the gripper by the outside pres-
sure.
Specic shapes and sizes
A comprehensive range of shapes and sizes is needed in
order to optimally cover all the requirements for vacuum
handling. We differentiate between at suction grippers
and bellow suction grippers. Flat suction grippers come
in a round or oval shape and bellow suction grippers have
1.5 or 2.5 bellows. Almost any application can be covered
as we offer diameters and sizes ranging from 1 to 300 mm.
The right material
Proper function depends just as much on the right suction
gripper material as on its shape and size. Or, more specic-
ally, the right combination and adaptation to the workpiece,
working environment, and the movement required.
A lot has to be taken into consideration when selecting the
right suction grippers for your application, including wear,
exibility, indentation characteristics, suitability for use
with food, and performance under extreme temperatures.
Flat suction grippers (oval)
Flat suction gripper (round)
Bellow suction grippers
7 Suction grippers | Vacuum technology for handling
Flat suction grippers
Flat suction grippers can be used for movements requiring
high transverse forces and exceptional positioning accuracy.
Their low-prole design, resulting in a low interior volume,
enables a minimum suction time and the best inherent
stability during operation. Typical applications include
handling of at or slightly curved surfaces, such as metal
sheets, cardboard, glass panels, plastic parts, or wooden
boards.
The right suction gripper
for the respective application
Flat suction grippers
Bellow suction grippers
Important values and information:
Theoretical suction force
Value in N with a vacuum of -0.6 bar.
Transverse force
Measured value in N with a vacuum of -0.6 bar.
Interior volume
To determine the overall volume of the
gripper system.
Radius of curvature
Radius up to which the workpiece can
be gripped.
Suction lift
Lift effect produced by the suction gripper
during the suction process.
Suction grippers 1.5 and 2.5 bellow
Bellow suction grippers enable exact adjustment to uneven
surfaces and particularly gentle pick-up of sensitive
workpieces and materials. They can also compensate for
height differences and provide an additional lift effect
during the suction process. Typical applications include
handling of curved and uneven workpieces such as tubes,
cardboard boxes, electronic components, die-cast parts,
as well as packaged or shrink-wrapped products.
Selection of suction gripper materials based on strain
Strain (resistance
to media with more
or less aggressive
properties)
Acrylonitrile
butadiene
rubber
(NBR)
Fluo-
romethyl
silicone
(silicone)
Polyure-
thane
(Vulkolan)
Chloro-
prene
rubber
(CR)
Hydrogenated
acrylonitrile
butadiene
rubber (HNBR)
Wear
Deformation
General weathering
Ozone
Oils
Fuel
Alcohol
Solvents/vapors
General acids
Resistance to tearing
Working
temperature C
-10/+70 -30/+180 -40/+80 -10/+70 -20/+130
Shore hardness
ISO 7619-1
40 90 55 60 72 5 60 5 70 5
= poor to satisfactory = good = very good = excellent
8 Vacuum technology for handling | Mounting elements
Rigid, spring-loaded, jointed, or with
an integrated ow valve the right
choice makes all the difference
Mounting elements provide suction grippers with the necessary stability
and support them during their work. They also ensure that the grippers are
properly positioned so that they can use their strength to the fullest extent.
When put together, they form a well-trained team that can take on the most
varied tasks.
Suction gripper matrix with
rigid ttings for handling
cardboard boxes
Suction gripper with spring-
loaded plunger and angle
joint mounting for angled
support of workpieces
Spring-loaded plunger Fittings
9 Mounting elements | Vacuum technology for handling
It all depends on the application
Our comprehensive range of mounting elements covers all
applications and suction grippers. Mounting elements are
not only used to attach suction grippers, but also provide
additional elementary functions. There are generally three
options for mounting suction grippers in a vacuum system
with rigid ttings, with spring-loaded plungers, or with
angle joints.
Flow valves offer even more reliability and efciency
Flow valves contribute to the security of vacuum circuits.
If a leak occurs by the workpiece disengaging from the
suction gripper, the ow valve shuts off automatically.
In addition, ow valves make it possible to efciently handle
workpieces with variable dimensions as the ow valve on
the unused suction grippers automatically shuts off the ow.
Rigid f
Rigid ttings are the right solution if you want to move at
parts that are resistant to bending. They ensure precise
load guidance and a high positioning accuracy.
Spring-loaded f
Spring-loaded plungers are primarily used to even out
height differences in workpieces and parts. Thanks to
integrated compensating springs, they can be used to
gently handle sensitive workpieces and surfaces through
cushioned contact.
Jointed f
Angle joint connections are used to adapt the suction
gripper to surface inclinations. An all-round, articulated
support of suction grippers makes it possible to handle
angled workpieces. Early release of the suction gripper
due to an unbalanced load is reliably prevented.
Angle joint
Flow valves
10
How much vacuum do you need?
Our program offers the optimum
solution for all your applications
The same applies to vacuum as almost everything else in the world. You not
only need the right quantity, but also the right quality on the one hand,
the suction capacity that can be generated and, on the other, the desired
degree of vacuum. Rexroth offers the ideal combination of both in its
universal ejectors.
Handling a plastic c
housing. Directly-
mounted basic ejectors
and bellow suction
grippers for uneven
surfaces.
As varied as your applications
Our program spans everything from simple inline ejectors
to ejectors directly mounted in the tubing connection of the
suction gripper, plus decentralized compact ejectors with
fully integrated, additional functions and air economizers.
The suction capacity ranges from 6 to 600 l/min.
Various methods for vacuum generation
There are three different methods to generate a vacuum:
using electric pumps, electric blowers, or pneumatically-
operated ejectors. Ejectors are relevant for pneumatic
applications because of the required suction capacity and
the high degree of vacuum they can achieve. Depending
on the application, you can use single-stage or multistage
ejectors with different features. These are compact, light
weight, can be easily integrated into the system, generate a
vacuum quickly, are almost wear-free, and very maintenance-
friendly.
Vacuum technology for handling | Vacuum generators
Extremely porous
workpieces
S
u
c
t
i
o
n

c
a
p
a
c
i
t
y

i
n

m

/
h
Vacuum in %
Porous
workpieces
Partially dense to fully dense
workpieces
Electric vacuum blower
Basic ejectors
Compact ejectors
Multistage ejectors
Electric vacuum pumps
11
Optimized ejector technology
for higher energy efciency
Vacuum using the Venturi principle
Our pneumatically-driven vacuum ejectors operate via the
Venturi principle. One or more inline Venturi nozzles form
the core of the ejectors. The guided compressed air ows
through the nozzle, where it is accelerated and compressed.
The accelerated air expands directly after the Venturi nozzle,
which creates a low pressure so that air is sucked in through
the vacuum connection. The intake air and compressed air
then escape through silencers.
Inline ejectors
Inline ejectors have been designed with an axial
compressed air and vacuum connection for direct
installation in the vacuum line.
Compact ejectors
Several functions are integrated into a single unit in our
compact ejectors. These include vacuum generation, control
valves, lters, switches, and silencers.
Ejectors with air economizers
Our air economizers help you save up to 85 % of the
compressed air energy! An integrated solenoid valve is used
to directly control the vacuum generator.
After the ejector has been activated, the compressed f
air remains on only until the required vacuum has been
generated.
The compressed air valve stays closed as long as the f
vacuum value remains within the desired set points.
The ejector does not need any compressed air during f
this phase.
Multistage ejectors
Multistage ejectors can achieve an enormous suction
capacity through the use of several Venturi nozzles
connected in series.
Inline ejector Compact ejectors
Vacuum generators | Vacuum technology for handling
Function of a multistage ejector (EMP)
Vacuum
Stage 1 Stage 2 Stage 3
Compressed air Exhaust
Function of a single-stage ejector (EBS-PT)
Compressed
air
Exhaust
Venturi nozzle
Vacuum
V
L
without air economizer
V
L
with air economizer
t
Lifting Positioning
Moving
-0.2
0
-0.4
-0.6
-0.8
Pu
bar
V
L
12
The most gentle method for
handling gripping highly-sensitive
objects and surfaces
In the 18th century, c
Daniel Bernoulli discov-
ered that an increase in
the speed of a owing
liquid is accompanied
by a drop in pressure.
NCT series non-contact e
grippers are ideal
for handling sensitive
surfaces and hard-to-grip
materials.
NCT series
The NCT transport unit is available in four sizes with
diameters ranging from 20 to 60 mm. Air is supplied via an
M5 air connection in the center or on the side. The suction/
gripping force is from 0.2 to 9 N.
NCT
NCT principle of operation A = compressed
air
B = air ow
Non-contact transfer (NCT)
Our non-contact transfer system offers a very special type
of handling. Objects and workpieces with a weight of up
to almost one kilogram can be lifted and moved without
touching the surfaces.
Lifting force using the Bernoulli principle f
The air stream under the gripper generates a differential f
pressure
The workpiece is raised by the lifting force f
To optimize the system and for use in specic tasks,
NCT grippers have been designed with special details, which
have expanded the application range. For example, a mechan-
ical connection with the workpiece is required in order to
transfer the lateral forces. This can be achieved using inte-
grated pads or, as an alternative, with a guide on the sides
of the workpiece.
Vacuum technology for handling | Non-contact gripping
13
Essential for the safe operation of a vacuum system
Pressure gauges, electromechanical pressure switches or
electronic pressure sensors the individual components for
system monitoring may be very varied, but they all use their
respective functions to perform the same tasks:
Monitoring and regulation of the vacuum system f
Possibility to detect errors f
Constant information on the state of the system f
Targeted increase in process reliability f
In addition to basic system monitoring, other features
concentrate on optimizing cycle times, control loops, and
energy-saving devices. Our comprehensive range includes
the right components for all applications and even specic
tasks.
Pressure switches and pressure sensors
Extremely compact pressure switches and sensors can be
easily integrated into existing machines and programmed
for specic functions. This includes converting the pressure
signals into electric or pneumatic signals, separately
programmable digital outputs, hysteresis and switching
points with extremely high switching precision, repeat ability,
and high switching frequencies basically everything
required to make the application even better. All from Rexroth.
System monitoring | Vacuum technology for handling
Keeping tabs on everything
the right sensor components
for the highest process reliability
Although trust is good, it is sometimes better to keep an eye on everything,
because knowledge is power! A well-functioning system must also provide
you with the opportunity to respond appropriately to changing factors.
One prerequisite for this is to always have an overview of all the important
parameters.
Pressure sensors
Pressure switch
Pressure gauges Pressure sensor
14
Protection from contamination and outside inuences
The special vacuum lters in our program optimally protect
the vacuum generator from contamination and damage
caused by outside inuences. They can be installed as
pre-lters or microlters to combat various levels of
contamination. Different designs are also available to t
varying tasks and congurations. The inline vacuum lters
for vacuum systems with low to medium levels of
contamination and so-called vacuum lter cups with
Vacuum lter
Highly-dynamic, clean, c
and reliable handling for
CD/DVD production
using vacuum compo-
nents and accessories
with minimized dimen-
sions.
additional features are available in a wide range of sizes.
The level of contamination can be easily seen from outside
thanks to transparent housings and lter cups.
Efcient operation with a long service life f
Large range of sizes f
Filtering of vacuum and compressed air up to 7 bar f
Easy installation and lter exchange f
Putting it all together
the right accessories to make your
system complete
Accessories. Sometimes it's the little things that make all the difference.
And not just as a small necessity, but as a major feature with important
functions. Just like a chain is only as strong as its weakest link, a closed
system is only as good as each of its individual elements.
Vacuum technology for handling | Filters and connection elements
15
Secure ttings
In addition to Rexroths standard ttings with tube nuts,
push-in ttings have become widely accepted in vacuum
technology.
Optimum sealing with a captive O-ring f
For tubing diameters from 3 to 16 mm f
In plastic, metal, and stainless steel versions f
Straight, angled, T/Y/X form, multiple connections f
Tubing available in all sizes and materials
We have a wide range of tubing to t all applications and
operating conditions. Dimensions, material, and design:
Nothing is left to be desired! We have it all tubing for
extremely high ows, tubing resistant to aggressive media,
tubing for daily use in the food industry, or completely
anti-static tubing for explosive atmospheres.
Vacuum distributors
Special aluminum distributors with integrated mounting
options are used for targeted distribution of compressed
air and vacuum. They are used to disperse the vacuum in
systems with several suction grippers and central vacuum
generation.
Vacuum tweezers
Rexroth has also developed standardized sub-systems.
Vacuum tweezers, for example, have been proven to be an
extremely powerful instrument for manually handling tiny
components and extremely sensitive, high-tech end products.
They are gentle, clean and get right to the point.
Filters and connection elements | Vacuum technology for handling
Connecting tubing Push-in ttings
Vacuum distributor

Ermittlung der erforderlichen Greifkraft 3.2.3
Krfte Wieviel mssen die Sauggreifer tragen?
Um die Haltekrfte zu ermitteln, werden die zu bewegende Masse und die
Beschleunigungskrfte bentigt. Nachfolgend sind die drei wichtigsten und
am hugsten vorkommenden Lastflle graphisch dargestellt.
Darstellung der Lastflle
Lastfall 1:
Die Sauggreifer setzen horizontal auf ein Werkstck auf, welches nach oben
hin angehoben werden soll.
Lastfall 2:
Die Sauggreifer setzen horizontal auf das Werkstck auf, welches seitlich
bewegt werden soll.
Lastfall 3:
Die Sauggreifer setzen vertikal auf dem Werkstck auf, welches vertikal
bewegt werden soll.
00109207
00109209
00109211
00109212
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R499050834/12.2009 | Technische Informationen Pneumatics | Bosch Rexroth AG 77/266
Greif- und Vakuumtechnik | Vakuumtechnik
Ermittlung der erforderlichen Greifkraft 3.2.3
Krfte Wieviel mssen die Sauggreifer tragen?
Um die Haltekrfte zu ermitteln, werden die zu bewegende Masse und die
Beschleunigungskrfte bentigt. Nachfolgend sind die drei wichtigsten und
am hugsten vorkommenden Lastflle graphisch dargestellt.
Darstellung der Lastflle
Lastfall 1:
Die Sauggreifer setzen horizontal auf ein Werkstck auf, welches nach oben
hin angehoben werden soll.
Lastfall 2:
Die Sauggreifer setzen horizontal auf das Werkstck auf, welches seitlich
bewegt werden soll.
Lastfall 3:
Die Sauggreifer setzen vertikal auf dem Werkstck auf, welches vertikal
bewegt werden soll.
00109207
00109209
00109211
00109212
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R499050834/12.2009 | Technische Informationen Pneumatics | Bosch Rexroth AG 77/266
Greif- und Vakuumtechnik | Vakuumtechnik
Ermittlung der erforderlichen Greifkraft 3.2.3
Krfte Wieviel mssen die Sauggreifer tragen?
Um die Haltekrfte zu ermitteln, werden die zu bewegende Masse und die
Beschleunigungskrfte bentigt. Nachfolgend sind die drei wichtigsten und
am hugsten vorkommenden Lastflle graphisch dargestellt.
Darstellung der Lastflle
Lastfall 1:
Die Sauggreifer setzen horizontal auf ein Werkstck auf, welches nach oben
hin angehoben werden soll.
Lastfall 2:
Die Sauggreifer setzen horizontal auf das Werkstck auf, welches seitlich
bewegt werden soll.
Lastfall 3:
Die Sauggreifer setzen vertikal auf dem Werkstck auf, welches vertikal
bewegt werden soll.
00109207
00109209
00109211
00109212
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R499050834/12.2009 | Technische Informationen Pneumatics | Bosch Rexroth AG 77/266
Greif- und Vakuumtechnik | Vakuumtechnik
Ermittlung der erforderlichen Greifkraft 3.2.3
Krfte Wieviel mssen die Sauggreifer tragen?
Um die Haltekrfte zu ermitteln, werden die zu bewegende Masse und die
Beschleunigungskrfte bentigt. Nachfolgend sind die drei wichtigsten und
am hugsten vorkommenden Lastflle graphisch dargestellt.
Darstellung der Lastflle
Lastfall 1:
Die Sauggreifer setzen horizontal auf ein Werkstck auf, welches nach oben
hin angehoben werden soll.
Lastfall 2:
Die Sauggreifer setzen horizontal auf das Werkstck auf, welches seitlich
bewegt werden soll.
Lastfall 3:
Die Sauggreifer setzen vertikal auf dem Werkstck auf, welches vertikal
bewegt werden soll.
00109207
00109209
00109211
00109212
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E
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C
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R499050834/12.2009 | Technische Informationen Pneumatics | Bosch Rexroth AG 77/266
Greif- und Vakuumtechnik | Vakuumtechnik
Berechnung der theoretischen Haltekraft F
TH
Beispiel
Gegeben:
m Lastmasse (Stahlplatte) = 60 kg
g Erdbeschleunigung [9,81 m/s
2
]
a max. Beschleunigung der bewegten Masse = 5 m/s
2
Reibwert = 0,5 (nur bei Lastfall 2 und 3)
S Sicherheitsfaktor = 2
Hinweis:
Fr die Berechnung von kombinierten Lastfllen muss immer der
ungnstigste Lastfall mit der hchsten theoretischen Haltekraft
betrachtet werden.
Zu Lastfall 1:
Sauggreiferche horizontal, Haltekraft F
TH
vertikal
F
TH
= m x (g + a) x S
F
TH
= 60 kg x (9,81 m/s
2
+ 5 m/s
2
) x 2 = 1777,20 N [kg x m/s
2
]
Zu Lastfall 2:
Sauggreiferche horizontal, Haltekraft F
TH
horizontal
F
TH
= m x (g + a/) x S
F
TH
= 60 kg x (9,81 m/s
2
+ 5 m/s
2
/0,5) x 2 = 2377,20 N [kg x m/s
2
]
Zu Lastfall 3:
Sauggreiferche vertikal, Haltekraft F
TH
vertikal
F
TH
= (m /) x (g + a) x S
F
TH
= (60 kg/0,5) x (9,81 m/s
2
+ 5 m/s
2
) x 2 = 3554,40 N [kg x m/s
2
]
F
TH
00115737
F
TH
F
a
= m x a
00109206 F
g
= m x g
F
TH
00109208
F
a
= m x a
F
g
= m x g
00109210
F
TH
F
a
= m x a
F
g
= m x g
78/266 Bosch Rexroth AG | Pneumatics Technische Informationen | R499050834/12.2009
Greif- und Vakuumtechnik | Vakuumtechnik
Berechnung der theoretischen Haltekraft F
TH
Beispiel
Gegeben:
m Lastmasse (Stahlplatte) = 60 kg
g Erdbeschleunigung [9,81 m/s
2
]
a max. Beschleunigung der bewegten Masse = 5 m/s
2
Reibwert = 0,5 (nur bei Lastfall 2 und 3)
S Sicherheitsfaktor = 2
Hinweis:
Fr die Berechnung von kombinierten Lastfllen muss immer der
ungnstigste Lastfall mit der hchsten theoretischen Haltekraft
betrachtet werden.
Zu Lastfall 1:
Sauggreiferche horizontal, Haltekraft F
TH
vertikal
F
TH
= m x (g + a) x S
F
TH
= 60 kg x (9,81 m/s
2
+ 5 m/s
2
) x 2 = 1777,20 N [kg x m/s
2
]
Zu Lastfall 2:
Sauggreiferche horizontal, Haltekraft F
TH
horizontal
F
TH
= m x (g + a/) x S
F
TH
= 60 kg x (9,81 m/s
2
+ 5 m/s
2
/0,5) x 2 = 2377,20 N [kg x m/s
2
]
Zu Lastfall 3:
Sauggreiferche vertikal, Haltekraft F
TH
vertikal
F
TH
= (m /) x (g + a) x S
F
TH
= (60 kg/0,5) x (9,81 m/s
2
+ 5 m/s
2
) x 2 = 3554,40 N [kg x m/s
2
]
F
TH
00115737
F
TH
F
a
= m x a
00109206 F
g
= m x g
F
TH
00109208
F
a
= m x a
F
g
= m x g
00109210
F
TH
F
a
= m x a
F
g
= m x g
78/266 Bosch Rexroth AG | Pneumatics Technische Informationen | R499050834/12.2009
Greif- und Vakuumtechnik | Vakuumtechnik
Vacuum system layout
Mounting elements
Vacuum generator
Suction gripper
System monitoring
Connections
The required gripping force
Load case 3: Vertical suction gripper,
vertical force
Calculation of the theoretical holding force F
TH
Example with load case 2
Given:
m Load mass (steel plate) = 60 kg
g Force of gravity [9.81 m/s]
a Max. acceleration of the moved mass = 5 m/s
Friction coefcient = 0.5 (only with load cases 2 and 3)
S Safety factor = 2
Load case 1: Horizontal
suction gripper,
vertical force
Load case 2: Horizontal
suction gripper,
horizontal force
Theoretical
holding force
17
Theoretical holding force, example with load case 2:
Horizontal suction gripper surface, horizontal holding force F
TH

F
TH
= m x (g + a/) x S
F
TH
= 60 kg x (9.81 + 5/0.5)m/s x 2
F
TH
= 2377.20 N [kg x m/s]
More information:
www.boschrexroth.com/pneumatics-catalog
>> Technical information
As individual as your application.
An optimum system layout in 7 steps.
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right positions and a tactical plan for all the tasks. This is the way to
efciently save energy. Your team will work together successfully and will
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System layout | Vacuum technology for handling
1. Workpiece information
Determining the characteristics of the workpiece to be
moved is always the rst step and a prerequisite for an
optimum vacuum system layout. Parameters to be taken
into account include:
Workpiece material (metal, plastic, wood, glass, ceramic, f
cardboard, etc.)
Workpiece properties (airtight, porous, exible, hard, f
soft)
Weight, mass, and dimensions of the workpiece f
Surface nish (smooth, rough, slightly rough, sensitive, f
structured)
Temperature range (min./max. working temperature) f
2. Dene the required gripping force
Values of the mass and acceleration forces are required in
order to dene the holding forces that the suction grippers
must withstand and work with. The type of movement and
the associated work for the gripper system are also
important for this calculation. The three most common load
cases are illustrated in the graphic.
Safety factor S
The calculation of holding force always remains a
theoretical consideration. In practice, other factors in the
work environment, as well as the workpiece's surface
properties, may affect this calculation. For this reason,
we recommend including a safety factor S 2 in your
calculation.
Holding force per suction gripper F
s
The required holding force F
TH
can be distributed over several
suction grippers. The number of suction grippers (n) here
depends on the shape, size, and bending stability of the
workpiece.
F
s
= F
TH
/n; in load case 2 with 6 suction grippers:
F
s
= 2377.20 N/6 = 396.20 N
Friction factor
Workpiece Friction factor
Plexiglas 0.45 0.7
Hard rubber 0.6 1
Particle board 0.7
Cardboard 0.5 0.75
Wood, metal, glass, steel 0.5
Rough surface 0.6
Wet surface 0.25
Oily surface 0.1
18
3. Select the right suction grippers
The most important selection criteria include the
information on the workpiece and the required gripping
force. The work environment conditions must also be taken
into account:
Suction gripper form (oval or round at suction grippers, f
bellow suction grippers with 1.5 or 2.5 bellows)
Number of suction grippers (dependent on the f
workpiece material, weight, dimensions, bending
stability)
Suction gripper material (in accordance with the f
application, load, workpiece surface)
Suction gripper type (series, diameter, suction force) f
4. Select the mounting elements
Selecting suitable mounting elements depends on the
selected suction grippers and application specications.
For example, an angle joint is required for uneven or inclined
surfaces. A spring-loaded plunger is needed to compensate
for height tolerances.
5. Dimension the tubing diameter
In addition to selecting the right tubing material, correct
dimensioning of the tubing connections is also important.
The tubing diameter depends on the suction gripper
diameter and the required ow.
6. Calculate the volume to be evacuated
The entire volume to be evacuated in the vacuum system
must be calculated in order to select the best ejectors,
particularly in applications with short cycle times. This
includes all the spaces in the individual elements that
contain air, from the suction grippers on the workpiece to
the tubing connected to the vacuum port of the ejector. The
total volume of air to be evacuated is the sum of all the
individual volumes calculated when dimensioning.
7. Select the vacuum generator
In addition to the application specications, the required
suction capacity of the ejector must be calculated by adding
up the required suction capacities of all the suction grippers
used in the system. The required suction capacity per suction
gripper is dependent on the size and type. If the evacuation
time is of importance, the volume to be evacuated is then
added to your calculation.
Component selection
Vacuum technology for handling | System layout
19
Take advantage of our service in person or online
We are constantly in direct dialog with our customers and
are always a competent contact partner for both technical
and economical questions. The same applies when congu-
ring your vacuum application. In addition to the information
offered in the Internet, you have access at all times to the
technical and industry expertise of our consultants.
Comprehensive information on our Internet platform
The Rexroth Internet portal is available round the clock
and supports you in all areas of the business process
from conguration through to the delivery. Our online
catalog provides all the product details and the technical
information contains important data on product functions
and parameters. We also offer a unique calculation program
to lay out suction grippers, allowing you to create your own
basic congurations with just a few clicks of the mouse.
Calculation of total volume V 3.2.7
G
to be
evacuated
The total volume VG to be evacuated is necessary for the optimized cycle
time design of the vacuum generator.
VG = Evacuating total volume
V1 = Suction gripper volume (information can be found in the product
catalog)
V2 = Mounting elements volume
V3 = Hoses volume
V4 = Fittings volume
V5 = Distributors, pre-lters, valves, etc volume
00115736
V5
V3
V2
V1
V4 V4
V4
VG = V1 + V2 + V3 + V4 + V5
E
N
G
L
I
S
H
R499050834/12.2009 | Technical Information Pneumatics | Bosch Rexroth AG 223/266
Gripper and Vacuum Technology | Vacuum technology
Working together
to congure your application
Online tools | Vacuum technology for handling
R499050900/2010-08/EN Subject to modications. Printed in Germany. This document, as well as the data, specications and other information
set forth in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or given to third parties without its consent.
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Pneumatics
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D - 30880 Laatzen
Phone +49 511 2136-0
Fax +49 511 2136-269
sales-pneumatics@boschrexroth.de
www.boschrexroth.com/pneumatics
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Bosch Rexroth Canada Corp.
3426 Mainway Drive
Burlington, Ontario L7M 1A8
Tel. +1 905 335-5511
Fax +1 905 335-4184
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Sydney
Tel. +61 2 9831-7788
Fax +61 2 9831-5553
U.S.A.
Bosch Rexroth Corp.
1953 Mercer Road
Lexington, KY 40511-1021
Kentucky
Tel. +1 859 254-8031
Fax +1 859 254-4188
Great Britain
Bosch Rexroth Ltd.
Broadway Lane
South Cerney
Cirencester, GL7 5UH
Gloucestershire
Tel. +44 1285 86-3000
Fax +44 1285 86-3003
Further contacts:
www.boschrexroth.com/addresses
The data specied above only
serve to describe the product.
No statements concerning a
certain condition or suitability
for a certain application can be
derived from our information.
The given information does not
release the user from the obliga-
tion of own judgement and
verication. It must be remem-
bered that our products are
subject to a natural process of
wear and aging.