Low Profile Air Gripper. Series MHF2. Low profile air gripper with space-saving design is newly released. 5-77

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1 Low Profile Air Gripper Low profile air gripper with space-saving design is newly released. 5-77

2 Low Profile Air Gripper Height is approximately / the size of an equivalent Series MHZ2. MHZ2-D 42 Bore size Height (mm) 72.8 MHF2-2D 52 5 The low profile design saves space and reduces bending moments. Improved accuracy with smooth operation Low profile design Reduced bending moment and vibration Stroke selection is available. standard stroke lengths are available for each bore size. Stroke can be selected to suit the work piece. ø8 ø2 ø ø Short 8 2 mm mm mm mm Medium 24 2 mm mm mm mm Long mm mm mm mm 5-78

Improved mounting repeatability With positioning pin holes Auto switches can be mounted on both

Linear guide provides: High precision and high rigidity with martensitic stainless steel Piping is

Centralized wiring and piping are possible.

degree of mounting flexibility As no brackets are required, mounting height can be minimized.

3 Improved mounting repeatability With positioning pin holes Auto switches can be mounted on both sides. Linear guide provides: High precision and high rigidity with martensitic stainless steel Piping is available from 2 directions Piping port position can be specified using a part number. Centralized wiring and piping are possible. Axial piping Side piping asy positioning for mounting attachments With positioning pin holes High degree of mounting flexibility As no brackets are required, mounting height can be minimized. Strong holding force Double piston construction achieves compact design with strong holding force. q r Mounting is possible from 4 directions. e w q w Model Bore size Holding force (N) MHF2-8D MHZ2-D 8 9 w e r MHF2-2D MHZ2-D MHF2-D MHZ2-D MHF2-D MHZ2-2D

4 Model Selection Selection procedure Model Selection Step Confirm gripping force Step 2 Confirm gripping point Step Confirm external force on fingers Step Confirmation of gripping force Confirmation of conditions Calculation of required gripping force Model selection from gripping force graph xample Work piece weight:.5kg Gripping method: xternal gripping Model selection criteria with respect to work piece weight Although differences will exist depending on factors such as shape and the coefficient of friction between attachments and work pieces, select a model which will provide a gripping force to times the weight of the work piece. (Note) Refer to the model selection illustration for more information. Furthermore, in cases with high acceleration or impact, etc., it is necessary to allow an even greater margin of safety. xample When it is desired to set the gripping force at times or more the work piece weight. Required griping force =.5 kg x x 9.8 m/s 2 = Approx. 29.4N or more MHF2-2D Holding force N Pressure.7MPa.6MPa.5MPa.4MPa Holding point L mm.mpa.2mpa 8 Length of gripping point : mm Operating pressure :.4MPa Selecting the MHF2-2D The gripping force is obtained from the intersection point of the gripping point distance L=mm and a pressure of.4mpa. Gripping force N=8N A gripping force of 8N satisfies the required gripping force of 29.4N. Therefore, the selection of MHF2-2D is appropriate. Model selection illustration F F When gripping a work piece as in the figure to the left and with the following definitions, F : Gripping force (N) : Coefficient of friction between attachments and work piece m : Work piece mass (kg) g : Gravitational acceleration (= 9.8m/s 2 ) mg : Work piece weight (N) When =.2 When =. mg F = x 4 2 x.2 = x mg μf mg Gripping force at least to times the work piece weight The " to times or more of the work piece weight" recommended by SMC is calculated with the safety margin of a = 4, which allows for impacts that occur during normal transportation, etc. μf mg F = x 4 2 x. = x mg the conditions under which the work piece will not drop are 2F mg Number of fingers and therefore, mg F 2 x With "a" as the safety margin, F is determined as follows: mg F = x a 2 x x work piece weight x work piece weight (Note) ven in cases where the coefficient of friction is greater than =.2, for safety reasons, SMC recommends selecting a gripping force which is at least to times the work piece weight. If is necessary to allow a greater safety margin for high accelerations and strong impacts, etc. 5-8

5 Step ffective gripping force: xpressing the effective gripping force The effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger when both fingers and attachments are in full contact with the work piece as shown in the figure below. F F xternal gripping L Internal gripping L MHF2-8D MHF2-2D Pressure.7MPa 7 Pressure.7MPa.6MPa Gripping force N.6MPa.5MPa.4MPa.MPa.2MPa Gripping force N 5.5MPa.4MPa.MPa.2MPa 8 Gripping point L mm Gripping point L mm MHF2-D MHF2-D Gripping force N 8 Pressure.7MPa.6MPa.5MPa.4MPa.MPa.2MPa Gripping force N Pressure.7MPa.6MPa.5MPa.4MPa.MPa.2MPa 8 8 Gripping point L mm Gripping point L mm 5-8

6 Model Selection Step 2 ffective gripping force: xternal gripping L Internal gripping The air gripper should be operated so that the amount of overhang "H" will stay within the range given in the graphs below. If the work piece gripping point goes beyond the range limits, this will have an adverse effect on the life of the air gripper. L H Holding point H Holding point MHF2-8D MHF2-2D 5 8 Overhang Hmm.4MPa.MPa Pressure.2MPa.5MPa.6MPa.7MPa Overhang Hmm.4MPa Pressure.2MPa.MPa.5MPa.6MPa.7MPa 5 8 Gripping point L mm Gripping point L mm MHF2-D MHF2-D.5MPa Overhang Hmm 8.4MPa Pressure.2MPa.MPa.5MPa.6MPa.7MPa Overhang Hmm 8.4MPa Pressure.2MPa.MPa.6MPa.7MPa 8 8 Gripping point L mm Gripping point L mm 5-82

7 Step Confirmation of external force on fingers: Fv My L L L Mp Mr L: Distance to the point at which the load is applied (mm) Model MHF2-8D MHF2-2D MHF2-D MHF2-D Allowable vertical load Fv (N) Pitch moment Mp (Nm) Note) The load and moment values in the table indicate static values. Maximum allowable moment Yaw moment My(Nm) Roll moment Mr (Nm) Calculation of allowable external force (when moment load is applied) Calculation example Allowable load F(N) = M(Maximum allowable moment)(nm) L x - (Unit converted invariable number) When a load off = N is operating, which applies pitch moment to point L = mm from the end of the MHF2-2D finger..68 Allowable load F = x - = 22.7 (N) Load f = (N) 22.7 (N) Therefore, it can be used. 5-8

8 Low Profile Air Gripper Se ries MHF2 How to Order MHF 2 2 D M9B Number of fingers 2 2 finger 8 2 Bore size (mm) 8 2 D Action Double acting Body option Nil: Axial direction piping type Number of auto switches Nil S 2 pcs. pc. Auto switch type Nil Without auto switch (built-in magnet) R: Side piping type Nil 2 Stroke Short stroke Middle stroke Long stroke Port Port Applicable auto switches Type Solid state switch Special function Note ) Diagnostic indication (2-colour display) lectrical entry Grommet Indicator light Yes Wiring (Output) -wire (NPN) -wire (PNP) 2-wire 24V -wire (NPN) -wire (PNP) 2-wire Load voltage Lead wire length symbol:.5mnil (xample) M9N ml (xample) M9NL 5mZ (xample) M9NWZ Auto switches marked "O" are produced upon receipt of order. Note ) Be careful for the differential of 2-color display type. Refer to "Auto Switch Hysteresis" on page 5- DC 2V AC Auto switch type lectrical entry direction Perpendicular In-line M9NV M9N M9PV M9P M9BV M9B M9NWV M9NW M9PWV M9PW M9BWV M9BW Lead wire length (m).5 (Nil) (L) 5 (Z) Note2) Flexible Applicable lead wire loads (-6) Note2) For the flexible wire specification, enter-6 after the part number. xample: When ordering with an air chuck MHF2-2D-M9NVS - 6 Flexible wire When ordering only an auto switch D-M9PL - 6 Flexible wire Relay PLC Applicable model Bore size (mm)

9 Low Profile Air Gripper Specifications Operating pressure Ambient and fluid temperature Repeatability Maximum operating frequency Fluid Short stroke Middle stroke Long stroke Lubrication Action Auto switch (Optional) Note2) Air ø8:.5 to.7mpa ø2 to :. to.7mpa to C (with no condensation).5mm Note) c.p.m. c.p.m. c.p.m. Not required Double acting Solid state switch (-wire, 2-wire) Note ) This is the value when no offset load is applied to the finger. When an offset load is applied to the finger, the maximum value is.5 mm due to the influence of backlash of the rack and pinion. Note 2) Refer to page 6-5 for further information on auto switch specifications. Model Symbol Double acting Action Double acting Model MHF2-8D MHF2-8D MHF2-8D2 MHF2-2D MHF2-2D MHF2-2D2 MHF2-D MHF2-D MHF2-D2 MHF2-D MHF2-D MHF2-D2 Cylinder bore (mm) 8 2 Note) Gripping force ffective holding force per finger N Note ) At the pressure of.5mpa, when holding point L is mm. Note 2) xcluding the auto switch weight Opening /closing stroke (Both sides) mm Note2) Weight g ,2 Unobstructed capacity (cm ) Finger open side Finger close side

10 Construction MHF2-8D, MHF2-8D t!5 r e!7!9 y q w i o!6 Parts list Parts list No. Description Material Note No. Description Material Note Body Aluminium alloy Hard anodized Head damper Urethane rubber 2 Piston 2 Clip wire Joint Heat treatment Rack Nit riding 4 Guide rail Heat treatment 4 Magnet Rare earth magnet Nickel plated 5 Finger Heat treatment 5 Steel balls High carbon chromium bearing steel 6 Roller stopper Wear ring Synthetic resin 7 Pinion Carbon steel Nit riding 7 Roller High carbon chromium bearing steel 8 Cap A Aluminium alloy Clear anodized 8 Needle roller High carbon chromium bearing steel 9 Cap B Aluminium alloy Clear anodized 9 Parallel pin Cap C Aluminium alloy Clear anodized Piston seal NBR 2 Gasket NBR Replaceable parts list Bolts for body through hole mounting Description MHF2-8D Kit No. MHF2-8D MHF2-8D2 Contents Part No. Number of pieces MHF2-8D 2 pieces/unit Seal kit MHF8-PS MHF8-PS MHF8-PS-2 2,, 2 MHF-B8 MHF2-8D 2 pieces/unit Finger assembly MHF-A82 MHF-A82- MHF-A82-2, 4, 5, 6, 5, 7, 9 Mounting screw MHF2-8D2 4 pieces/unit The bolts for body through hole mounting are attached to the product. They are also provided at an order of piece or more with the above part numbers. 5-86

11 Low Profile Air Gripper Construction MHF2-2D to D t!4 r e!6!9 y!8 u o Parts list Parts list No. Description Material Note No. Description Material Note Body Aluminium alloy Hard anodized Magnet Tare earth magnet Nickel plated 2 Piston Aluminium alloy Clear anodized 4 Steel balls High carbon chromium bearing steel Joint Heat treatment 5 Wear ring Synthetic resin 4 5 Guide rail Finger Heat treatment Heat treatment ø2: Roller ø to : Parallel pin High carbon chromium bearing steel 6 Roller stopper 7 Needle roller High carbon chromium bearing steel 7 8 Pinion Cap A Carbon steel Aluminium alloy Nit riding Clear anodized 8 ø2: R shape snap ring ø to : C type snap ring Carbon steel Nickel plated 9 Cap B Aluminium alloy Clear anodized 9 Parallel pin Cap C Aluminium alloy Clear anodized Piston seal NBR Head damper Urethane rubber 2 Gasket NBR 2 Rack Nit riding 22 Gasket NBR Replaceable parts list Bolts for body through hole mounting Description MHF2-2D Kit No. MHF2-2D MHF2-2D2 Contents Part No. Number of pieces MHF2-2D 2 pieces/unit Seal kit MHF2-PS MHF2-PS MHF2-PS, 2, 22 MHF-B2 MHF2-2D 2 pieces/unit Finger assembly MHF-A2 MHF-A2- MHF-A2-2, 4, 5, 6, 4,,9 Mounting screw MHF2-2D2 4 pieces/unit Description Seal kit Finger assembly Description MHF2-D MHF-PS MHF-A2 MHF2-D Kit No. MHF2-D MHF-PS MHF-A2- Kit No. MHF2-D MHF2-D2 MHF-PS MHF-A2-2 MHF2-D2 Contents, 2, 22, 4, 5, 6, 4,,9 Mounting screw Contents The bolts for body through hole mounting are attached to the product. They are also provided at an order of piece or more with the above part numbers. When mounting MHF2-D or MHF2-D with the body through holes, use hexagon socket head screws available on the market. Seal kit MHF-PS MHF-PS MHF-PS, 2, 22 Finger assembly MHF-A2 MHF-A2- MHF-A2-2, 4, 5, 6, 4,,9 Mounting screw 5-87

12 Dimensions MHF2-8D Scale: 8% 2-M thread depth 4 4-M thread depth M2.5 thread depth Attachment mounting thread Accessory option: Hexagon socket head screw (special screws) 2-ø2H9 +. depth M2.5 x M thread depth ø2.6 through (Mounting hole) 2-.5 Use the attached hexagon socket head screws for mounting holes. ø2.5h9 +. depth Close: Open: 8 2.5H9 +. depth 2.5 M Finger opening port Groove for auto switch mounting M Finger closing port Groove for auto switch mounting 2-M thread depth

13 Low Profile Air Gripper Dimensions MHF2-8D Scale: 8% 2-M thread depth Accessory option: Hexagon socket head screw (special screws) 4 4-M thread depth 4 4-M2.5 thread depth Attachment mounting thread M2.5 x ø2H9 +. depth M thread depth ø2.6 through (mounting hole) 2-.5 Use the attached hexagon socket head screws for mounting holes. ø2.5h9 +. depth Close: +. Open: 2.5H9 +. depth 2.5 M Groove for auto switch mounting. 7-. Finger opening port M Finger closing port Groove for auto switch mounting 2-M thread depth

14 Dimensions MHF2-8D2 Scale: 8% 2-M thread depth 4 M2.5 x Accessory option: Hexagon socket head screw (special screws) 72 2-M thread depth M thread depth M2.5 thread depth Attachment mounting thread ø2H9 +. depth ø2.6 through (mounting hole) Use the attached hexagon socket head screws for mounting holes Close: Open: M M Finger closing port Finger opening port Groove for auto switch mounting ø2.5h9 +. depth H9 +. depth 2.5. Groove for auto switch mounting M thread depth 7 5-9

15 Low Profile Air Gripper Dimensions MHF2-2D Scale: 65% 2-M4 thread depth 5 4-M4 thread depth M thread depth 4 Attachment mounting thread ø5 M 5 Accessory option: Hexagon socket head screw (special screws) ø2.5H9 +. depth M4 x.7 thread depth 5-2-ø.4 through (mounting hole) 2-ø5.5 Use the attached hexagon socket head screws for mounting holes. 8 8 Close: +. Open: 2 -. Finger opening port Groove for auto switch mounting.7 Finger closing port øh9 +. depth 26 H9 +. depth. Groove for auto switch mounting 2-M4 thread depth

16 Dimensions MHF2-2D Scale: 65% 2-M4 thread depth 5 44 ø5 M 5 Accessory option: Hexagon socket head screw (special screws) 54 Finger closing port M4 thread depth 5 8-M thread depth 4 Attachment mounting thread ø2.5H9 +. depth M4 thread depth 5-2-ø.4 through (mounting hole) 2-ø5.5 Use the attached hexagon socket head screws for mounting holes. øh9 +. depth 2 2 Open: Close: +. H9 +. depth -. Finger opening port Groove for auto switch mounting.7. Groove for auto switch mounting 2-M4 thread depth

17 Low Profile Air Gripper Dimensions MHF2-2D2 Scale: 65% 2-M4 thread depth 5 4-M4 thread depth M thread depth 4 Attachment mounting thread ø5 M Accessory option: Hexagon socket head screw (special screws) 2-ø2.5H9 +. depth Finger closing port - 4-ø.4 through (mounting hole) 4-ø5.5 Groove for auto switch mounting M4 thread depth 5 øh9 +. depth Open: Close: H9 +. depth -. Finger opening port Use the attached hexagon socket head screws for mounting holes M4 thread depth Groove for auto switch mounting 5-9

18 Dimensions MHF2-D Scale: 5% 2- thread depth thread depth M4 thread depth 4 Attachment mounting thread øH9 +. depth 72 5 Finger closing port thread depth through (mounting hole) ø Close: +. Open: x.8 Finger opening port Groove for auto switch mounting 2.2 H9 +. depth 8 4H9 +. depth 4.6 Groove for auto switch mounting 2- thread depth

19 Low Profile Air Gripper Dimensions MHF2-D Scale: 5% 2- thread depth Finger closing port thread depth M4 thread depth 4 Attachment mounting thread øH9 +. depth thread depth through (mounting hole) 2-ø Open: Close: Finger opening port Groove for auto switch mounting H9 +. depth 4H9 +. depth thread depth 2 Groove for auto switch mounting 5-95

20 Dimensions MHF2-D2 Scale: 5% 2- thread depth thread depth M4 thread depth 4 Attachment mounting thread øH9 +. depth 2- thread depth 5.5 Finger closing port through (mounting hole) 4-ø7.5 - Groove for auto switch mounting H9 +. depth H9 +. depth Close: Open: Finger opening port Groove for auto switch mounting thread depth

21 Low Profile Air Gripper Dimensions MHF2-D Scale: 5% 2-M6 thread depth 6 4-M6 thread depth 6 8-M4 thread depth 4 Attachment mounting thread øH9 +. depth M6 thread depth 6 Finger closing port 2-ø5.2 through (mounting hole) 2-ø Close: Open: 2 Finger opening port -. Groove for auto switch mounting 2. ø5h9 +. depth 4 8 5H9 +. depth 4 6 Groove for auto switch mounting M6 thread depth

22 Dimensions MHF2-D Scale: 5% 2-M6 thread depth 6 4-M6 thread depth M4 thread depth 4 Attachment mounting thread 62 Finger closing port øH9 +. depth M6 thread depth 6-2-ø5.2 through (mounting hole) 2-ø 6.2 Open:.2 6 Close: +. 2 Finger opening port -. Groove for auto switch mounting ø5h9 +. depth H9 +. depth Groove for auto switch mounting M6 thread depth

23 Low Profile Air Gripper Dimensions MHF2-D2 Scale: 5% 2-M6 thread depth M6 thread depth M4 thread depth 4 Attachment mounting thread øH9 +. depth M6 thread depth ø5.2 through (mounting hole) 4-ø ø5h9 +. depth Open: 8 Close: H9 +. depth 4 Groove for auto switch mounting Finger opening port Finger closing port Groove for auto switch mounting M6 thread depth

24 Body Option: Side Piping Type MHF2-DR B A Body option dimension table Model A B C Unit: mm D MHF2-8DR MHF2-8DR M C MHF2-8D2R 6 MHF2-2DR 8 MHF2-2DR MHF2-2D2R 9 D (Finger closing port) D (Finger opening port) MHF2-DR MHF2-DR MHF2-D2R For dimensions not given above, please refer to the table of dimensions on pages 5-88 through MHF2-DR MHF2-DR MHF2-D2R

25 Low Profile Air Gripper Auto Switch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Auto Switch Protrusion from the Body nd Surface The amount of auto switch protrusion from the body end surface is shown in the table below. Use this as a standard when mounting, etc. Auto switch protrusion Lead wire type In-line entry Perpendicular entry Illustration Hysteresis Auto switch operating position (ON) Auto switch Finger position L L Auto switch operating position (OFF) Model D-M9 D-M9W D-M9V D-M9WV Hysteresis MHF2-8D MHF2-2D MHF2-D MHF2-D D-M9(V) Auto Switch Mounting ø5 to ø6 D-M9W(V) Red ON Green ON Insert the auto switch into the switch mounting groove in the air chuck in the direction shown below, and after setting the mounting position, tighten the attached switch mounting screw with a screwdriver. Strait bladed watch makers screw driver Switch installation screw M2.5 x 4l Auto switch MHF2-8D MHF2-8D MHF2-8D2 MHF2-2D MHF2-2D MHF2-2D2 MHF2-D MHF2-D MHF2-D2 MHF2-D MHF2-D MHF2-D2 Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Open Close Note) There is no protrusion for sections of the table with no values entered Note) Use a screwdriver with a grip diameter of 5 to 6 mm to tighten the auto switch mounting screw. The tightening torque should be about.5 to.n m. When you begin to feel that the screw is being tightened, turn it further by 9. Caution When using an auto switch on the mounting plate side, the switch will protrude from the end face as shown below. Please provide a run off apace of 2mm or deeper on the mounting plate. 2mm or more "Runoff" 5-

26 Detection example Installation and Setting of Auto Switch Various auto switch applications are possible through different combinations of auto switch quantity and detecting positions. ) Detection of work (xternal holding) q Confirmation of finger reset position w Confirmation of work holding e Confirmation of work releasing Detecting position Finger fully open position Work holding position Finger fully closed position Operation of auto switch Combination of detection One auto switch Two auto switches Auto switch mounting position /setting procedure Switch ON at finger reset position (Light: ON) Procedure ) Fully open the fingers. Switch ON at work holding position (Light: ON) Procedure ) Locate the fingers in the work holding position. At work holding position [Normal operation] : Switch OFF (Light: OFF) Work releasing condition [Abnormal operation] : Switch ON (Light: ON) Procedure ) Locate the fingers in the fully closed position. Connect a switch applying no or low voltage and follow the procedures for setting. Procedure 2) Insert the auto switch mounting groove from the direction shown in the figure. Procedure ) Slide auto switch in the direction of the arrow until the indicator light comes on. Procedure ) Slide auto switch in the direction of the arrow until the indicator lights. Move switch a further. to.5mm in the direction of the arrow and set. Procedure 4) Slide the auto switch a further distance in the direction of the arrow until the indicator light goes out. Indicator lighting position Procedure 5) Move the auto switch in the opposite direction, as shown by the arrow, a distance of. to.5mm and set. Fitting position. to.5mm Fitting position. to.5mm Note) It is recommended that work be held at the center of the finger stroke. If work is held around the end position of finger opening stroke, the above detecting combination may be limited due to the ON/OFF differential of the auto switches. 5-2

27 Detection example Installation and Setting of Auto Switch Various auto switch applications are possible through different combinations of auto switch quantity and detecting positions. 2) Detection of work (Internal holding) q Confirmation of finger reset position w Confirmation of work holding e Confirmation of work releasing Detecting position Finger fully closed position Work holding position Finger fully open position Operation of auto switch Combination of detection One auto switch Two auto switches Auto switch mounting position /setting procedure Switch ON at finger reset position (Light: ON) Procedure ) Fully open the fingers. Switch ON at work holding position (Light: ON) Procedure ) Locate the fingers in the work holding position. At work holding position [Normal operation] : Switch OFF (Light: OFF) Work releasing condition [Abnormal operation] : Switch ON (Light: ON) Procedure ) Locate the fingers in the fully closed position. Connect a switch applying no or low voltage and follow the procedures for setting. Procedure 2) Insert the auto switch mounting groove from the direction shown in the following drawing. Procedure ) Slide auto switch in the direction of the arrow until the indicator lights comes on. Move switch a further. to.5mm in the direction of the arrow and set. Procedure ) Slide auto switch in the direction of the arrow until the indicator lights. Indicator lighting position Procedure 4) Slide the auto switch a further distance in the direction of the arrow until the indicator light goes out. Fitting position. to.5mm Procedure 5) Move the auto switch in the opposite direction, as shown by the arrow, a distance of. to.5mm and set. Indicator lighting position Fitting position. to.5mm Note) It is recommended that work be held at the center of the finger stroke. If work is held around the end position of finger opening stroke, the above detecting combination may be limited due to the ON/OFF differential of the auto switches. 5-

Low Profile Air Gripper

Low Profile Air Gripper Series MHF2 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X Low profile air gripper with space-saving design MRHQ MA D- Courtesy of Steven ngineering, Inc.-2 Ryan Way, South San Francisco,