Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (800)

Transcription

1 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) Parallel Grippers- Miniature Series Double Wedge General purpose: This style gripper is the most widely used in the industry. It is a rugged design and supplies very high grip force. Small parts handling: Compact size, high gripping force, and extended jaw design facilitates finger attachment for smaller parts. Robotic applications: High grip force to weight ratio make these grippers very popular on small robots. Miniature Size: Allows banks of grippers to be mounted in close proximity for multiple part picking and placing. Mounting Information: Grippers can be mounted & operated in any orientation Body mounts with screws and locates with slip fit dowel pins for accuracy G Warning! Protect jaw mechanism from falling debris when mounted upside down Fingers attach to jaws with screws and locate by keying Technical Specifications: Pneumatic Specifications Imperial Metric Pressure Operating Range 4- psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, -position Air Quality Requirements Air Filtration Air Lubrication Air Humidity 4 Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -3 ~8 F -3 ~8 C Viton Seals (optional) - ~3 F -3 ~ C Maintenance Specifications Expected Life Normal Application million cycles w/ Preventative Maintenance + million cycles* Field Repairable Yes Seal Repair Kits Available Yes Application Restrictions Dirty or gritty environments Machining operations generating chips Environments with loose particulate Applications where mechanism lubricant could cause contamination *Addition of lubrication will greatly increase service life See Maintenance Section

2 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) Exhaust Pressure Self Lubricating Seals Self lubricating dynamic seals (Buna-N only) Sensors/ Mounting Kit Read position of jaw (Sold Separately) Accessory Mounting Holes (Mounts sensors to unit) Rugged Construction Jaws are supported throughout the length of the body and are precision ground for minimal jaw play Optional RP- Spring Close RP- has an optional spring closed feature for failsafe operation Body Shaft Bottom Plate Product Features Operating Principle Open Position Pressure Exhaust Quality Components Dynamic components are hardened for wear resistance and long life Closed Position A double acting piston is connected by a shaft to a double sided wedge. The wedge slides in a slot located in each of the jaws converting vertical motion of the wedge into horizontal synchronous motion of the jaws. The large surface area of the wedge minimizes frictional wear. This gripper is suitable for internal or external gripping. U.S. Patent #,,78 Designed and manufactured in the USA Dowel Holes Slip fit dowel pin holes in body One Piece Body One piece 77-T6 aircraft quality aluminum body Hard Coat Anodize The body has hard-coat anodize 6 RC with Teflon impregnation Cap Piston Double Wedge Jaw Style-RP Parallel Gripper Size -M Style: RP- RP-M Stroke:.6 in. 4. mm Grip Force: 3 lb 6 N Weight:.8 lb.8 Kg See Page.7 Style-RP Parallel Gripper Size -M-FS Style: RP- RP-M Stroke:.6 in. 4. mm Grip Force:* 4 lb 78 N Weight:.8 lb.8 Kg *Grip force with spring assist See Page.7 Style-RP Parallel Gripper Size -M Style: RP- RP-M Stroke: /4 in. 6.4 mm Grip Force: 4 lb 7 N Weight:.8 lb.3 Kg See Page.73 Note: Please refer to our new DPDS/DPDL Series grippers found on pages The RP Series is still available for sale and the related information remains available on our website but we encourage you to consider the new DPDS/DPDL Series grippers found on pages for new projects..7

3 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) PARALLEL GRIPPER RP-M-FS MINIATURE DOUBLE WEDGE SERIES X #-3 [M] AIR PORTS (CLOSE). [8.6].937 [3.8] (JAWS SHOWN IN OPEN POSITION) X Ø.938 SF X. DP [Ø 3 H7 X 6 DP].7 [9]. [6.4] Loading Information FINGER FORCE - F/ N lbs L PSI [7 bar] 8 PSI [. bar] C T My X #4-4 X.38 DP [M3 X 9 DP].. [.7] [.4] OPEN.9 []. [3] GRIP FORCE PER FINGER 6 PSI [4. bar] 4 PSI [.7 bar] EFFECTIVE FINGER LENGTH - L.4 ±. [9 ±.4] (OPEN).97 [4] (CLOSED) WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS Failsafe Spring Closed - PSI [ bar] 3 in. 7mm Mx F/ F/ Loading Capacity Static Dynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. N 7 lbs. 3 N Maximum Compressive C 7 lbs. 334 N lbs. 3 N Maximum Moment Mx 3 in.-lbs. 3.4 Nm in.-lbs..6 Nm Maximum Moment My 3 in.-lbs. 3.4 Nm in.-lbs..6 Nm Maximum Moment 3 in.-lbs. 3.4 Nm in.-lbs..6 Nm Capacities are per set of jaws and are not simultaneous 4X #6-3 [M3] THRU Specifications RP- RP-M Total Rated Grip Force psi, 7 bar3 lb 6 N Stroke....6 in. 4. mm Weight....8 lb.8 Kg Pressure Range psi 3-7 bar Cylinder Bore Ø....7 in. 9. mm Displacement....4 in 3..7 cm 3 Temperature Range Standard Seals ~8 F -3 ~8 C Viton Seals... - ~3 F -3 ~ C Actuation....4 sec..4 sec. Accuracy... ±. in. ±.3 mm Repeatability... ±. in. ±. mm Valve required to actuate... 4-way, -position. [3] How to Order: (Order Accessories separately from Basic Model) INDUCTIVE SENSORS AND MOUNTING KIT.6 [7].3 [7.9] BASIC MODEL X #4-4 X. DP [M3 X 3 DP] (SENSOR MNTG HOLES, DO NOT EXCEED DEPTH).3 [3].78 [9.9].437 [36.]. [3.] UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Metric [mm] Dimensions are Third Angle All Dowel Holes are SF (Slip Fit). Metric Threads. = ±. [.] = [±.] symmetrical about Projection Locational Tolerance Course Pitch. = ±. [.] = [±.3] centerline ±." or [±.3mm]. = ±. [.] = [±.3] RP- M-FS - FAIL SAFE CLOSED METRIC V VITON SEALS.4 [6] FAILSAFE VALVE.63 [6] (Refer to Spring Assist Gripper section for more information) SENSOR ACCESSORIES ORDER # QTY/UNIT Sensor Mounting Kit for Imperial & Metric Units (mounts sensors) OSMK- NPN Inductive Sensor with Quick Disconnect * OISN-9 or PNP Inductive Sensor with Quick Disconnect * OISP-9 or Quick Disconnect Meter Cable Length * CABL- or Quick Disconnect Meter Cable Length * CABL-3 or PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV- Fail Safe Valve (Metric) OFSV-4 Standard Seal Repair Kit SLKT- Viton Seal Repair Kit SLKT-V *Sensor and cable sold separately.

4 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) X #-3 [M] AIR PORTS (CLOSE). [38.]. [3.7] X #6-3 X. DP [M4 X 6 DP].78 [] (JAWS SHOWN IN OPEN POSITION) Loading Information FINGER FORCE - F/ N lbs L PSI [7 bar] 8 PSI [. bar] 6 PSI [4. bar] 4 PSI [.7 bar] GRIP FORCE PER FINGER OPEN EFFECTIVE FINGER LENGTH - L C X Ø.SF X. DP [Ø 3 H7 X 6 DP].9 []. [.7].37 [9]. [3.7]. [6.4].76 ±. [9 ±.4] (OPEN). [] (CLOSED) WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 3 in. 7mm F/ F/ Loading Capacity Static Dynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 44 N lbs. 67 N Maximum Compressive C lbs. 667 N lbs. N Maximum Moment Mx 9 in.-lbs.. Nm in.-lbs.. Nm Maximum Moment My 9 in.-lbs.. Nm in.-lbs.. Nm Maximum Moment 9 in.-lbs.. Nm in.-lbs.. Nm Capacities are per set of jaws and are not simultaneous T My Mx X #-6 X.8 DP [M3 x 4 DP] (SENSOR MNTG HOLES) 4X #6-3 [M4] THRU.6 [4].33 [8.] PARALLEL GRIPPER RP-M MINIATURE DOUBLE WEDGE SERIES Specifications RP- RP-M Total Rated Grip Force psi, 7 bar4 lb 78 N Stroke.... in. 6.4 mm Weight....8 lb.3 Kg Pressure Range psi 3-7 bar Cylinder Bore Ø.... in..4 mm Displacement in 3..6 cm 3 Temperature Range Standard Seals ~8 F -3 ~8 C Viton Seals... - ~3 F -3 ~ C Actuation....3 sec..3 sec. Accuracy... ±. in. ±.3 mm Repeatability... ±. in. ±. mm Valve required to actuate... 4-way, -position L C.937 [3.8].9 [3].6 [8.6].47 [37.3] UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Metric [mm] Dimensions are Third Angle All Dowel Holes are SF (Slip Fit). Metric Threads. = ±. [.] = [±.] symmetrical about Projection Locational Tolerance Course Pitch. = ±. [.] = [±.3] centerline ±." or [±.3mm]. = ±. [.] = [±.3] How to Order: (Order Accessories separately from Basic Model) BASIC MODEL INDUCTIVE SENSORS AND MOUNTING KIT RP- M- METRIC V VITON SEALS SENSOR ACCESSORIES ORDER # QTY/UNIT Sensor Mounting Kit for Imperial & Metric Units (mounts sensors) OSMK- NPN Inductive Sensor with Quick Disconnect * OISN-9 or PNP Inductive Sensor with Quick Disconnect * OISP-9 or Quick Disconnect Meter Cable Length * CABL- or Quick Disconnect Meter Cable Length * CABL-3 or PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV- Fail Safe Valve (Metric) OFSV-4 Standard Seal Repair Kit SLKT-36 Viton Seal Repair Kit SLKT-36V *Sensor and cable sold separately. FAILSAFE VALVE.3 [3].4 [6].63 [6].73

5 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) MAINTENANCE.74 RP- & Series Exploded View SK 3 4 SK 6 (4 SCREWS) 3 7 (4 SCREWS) Item Qty Name Body Jaw 3 Cap 4 Piston Plate,Bottom 6 Shaft/Wedge 7* Gib 3* 4 SSS,Cup Point * RP- Only NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedures ) Lubricate and install seals. ) Install piston into body. 3) Place wedge, jaws, and gib plate into body. 4) Attach bottom plate to body. ) Install cap and retaining ring. Gib Adjustment Procedure ) Tighten set screws (#3) so that they just just touch the gib plate. ) Cycle the gripper. 3) Adjust screws so that there is no play in jaws. SK Seal Repair Kit Order # s See Product Data Sheets

6 Courtesy of CMA/Flodyne/Hydradyne Motion Control Hydraulic Pneumatic Electrical Mechanical (8) RP- & Series Assembled View Item Qty Name Body Jaw 3 Cap 4 Piston Plate, Bottom 6 Shaft/Wedge 7* Gib 3* 4 SSS,Cup Point * RP- Only NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Accessory Installation & Adjustment Instructions MAINTENANCE.7