Rotary Actuated Air Gripper

Transcription

1 Rotary ctuated ir Gripper MHR, MDHR/MHR3, MDHR3 -finger type: Size, 15,, 3/ 3-finger type: Size, 15 High Precision - Repeatability ±.1 mm Parallel opening and closing mechanism utilizing a cross roller guide produces smooth operation without play, with high precision and long life. Low Profile Using rotary actuators in the part of actuating portion enables a design compact. all bearing Rotary actuator Guide holder Cross roller guide all bearing MDHR MDHR3 Universal mounting xial side mounting Vertical side mounting Lateral side mounting Possible to mount solid state switch with indicator light D-M9. Easy to locate switch to optimum set point. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- 515

2 High rigidity Fingers operate smoothly as the holder maintains the guide from the outside and prevents finger displacement. pplicable for Clean Series. Refer to Pneumatic Clean Series (CT.E-3) catalog for details. Internal/External gripping capability Connection port on sides Port Port Series Variations Rotary actuated air gripper -finger type 3-finger type MHR MDHR MHR3 MDHR3 (Nominal size) 15 3 uto switch P. 517 to P. 59 P. 53 to P. 537 Clean Series Rotary actuated air gripper -finger type 3-finger type 11- -MHR 11- -MDHR MHR3 MDHR3 Refer to the Pneumatic Clean Series (CT.E-3) catalog. 516

3 Rotary ctuated ir Gripper/-Finger Type MHR/MDHR Series Size:, 15,, 3 How to Order Without auto switch MHR R With auto switch (uilt-in magnet) MDHR R M9N S With magnet (For auto switch) Number of fingers fingers Number of auto switches Nil S Made to Order Refer to page 518 for details. pcs. 1 pc. Nominal size 15 3 Connecting port R: ody side E: xial side Port Port pplicable uto Switches/Refer to pages 797 to 85 for further information on auto switches. uto switch model Lead wire length (m) Load voltage Type Special Electrical Indicator Wiring Electrical entry direction function entry light (Output) DC C Perpendicular In-line (Nil) (M) (L) (Z) 3-wire (NPN) M9NV M9N 5V,1V 3-wire (PNP) M9PV M9P -wire 1V M9V M9 Diagnosis 3-wire (NPN) M9NWV M9NW 5V,1V (-color Grommet Yes 3-wire (PNP) 4V M9PWV M9PW indication) -wire 1V M9WV M9W Water resistant 3-wire (NPN) M9NV M9N 5V,1V (-color 3-wire (PNP) M9PV M9P indicator) -wire 1V M9V M9 Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance. Solid state auto switch Pre-wired connector pplicable load IC circuit IC circuit IC circuit Lead wire length symbols:.5 m Nil (Example) M9N Solid state auto switches marked with a symbol are produced upon receipt of order. 1 m M (Example) M9NM 3 m L (Example) M9NL 5 m Z (Example) M9NZ Note) When using the -color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the air gripper. 517 Relay, PLC MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D-

4 MHR/MDHR Series Model/Specifications ction (1) (Effective value) at Opening/ Closing stroke (oth sides) Nominal size Weight (g) () Connection port Repeatability Fluid External grip Internal grip Finger closing width (mm) Finger opening width (mm) Stroke (mm) 15 3 Double acting (95) (175) (38) (74) M3 X.5 M5 X.8 ir Symbol Operating pressure. to.6 MPa.15 to.6 MPa Without auto switch/ Double acting Internal grip mbient and fluid temperature Max. operating frequency 18 c.p.m Lubrication Non-lube (3) Note 1) Refer to page 5 Effective Gripping Force for details of Gripping force at each gripping point. Value of effective gripping force is measured at the middle of opening/closing stroke. Note ) ( ) Value shows MDHR weight, but it does not include auto switch weight. Note 3) This product should be used without lubrication. If it is lubricated, it could lead to sticking or slipping. External grip When the finger opening/closing speed is set as the total stroke of. seconds or more, it may cause the product to stick or completely stop its movement. With auto switch/ Double acting Internal grip External grip Symbol Made to Order: Individual Specifications (For details, refer to page 544.) Specifications/Description -X3 Grease change for rotary actuated part Made to Order (Refer to pages 75 to 748 for details.) Symbol Specifications/Description -X63 Fluorine grease 518

5 Rotary ctuated ir Gripper -Finger Type MHR/MDHR Series Gripping Point Workpiece gripping point should be within the gripping point range: The range shown for each operating pressure given in the graphs to the right. When the gripping point distance becomes large, the finger attachment applies an excessively large load to the finger sliding section, causing excessive play of the fingers and possibly leading to premature failure. External grip Limitation of Gripping: External Grip/Internal Grip MHR-/MDHR- Overhang distance H (mm) MPa.4 MPa.3 MPa. MPa MHR-/MDHR- Overhang distance H (mm) MPa.3 MPa.4 MPa.6 MPa Pressure H MHR-15/MDHR-15 5 MHR-3/MDHR-3 8 Gripping point Internal grip L L: Distance to the gripping point H: Overhang distance Overhang distance H (mm) MPa Pressure Pressure Pressure.4 MPa.3 MPa. MPa Overhang distance H (mm) MPa.4 MPa.6 MPa. MPa MHZ MHF MHL MHR MHK H MHS Gripping point L MHC MHT MHY MHW -X MRHQ M D- 519

6 MHR/MDHR Series Effective Gripping Force Guidelines for the selection of the gripper with respect to workpiece mass lthough conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of to times the workpiece mass, or more. If high acceleration, deceleration or impact forces are encountered during motion a further margin of safety should be considered. External grip External Grip MHR-/MDHR- Pressure 15.6 MPa.4 MPa.3 MPa 5. MPa Internal Grip MHR-/MDHR Pressure.6 MPa.4 MPa.3 MPa. MPa L Internal grip MHR-15/MDHR-15 3 Pressure.6 MPa.4 MPa.3 MPa. MPa MHR-15/MDHR-15 3 Pressure.6 MPa.4 MPa.3 MPa. MPa L L: Gripping point length (mm) Indication of 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 workpiece as shown in the figure below MHR-/MDHR- 5 Pressure.6 MPa MPa.3 MPa MHR-/MDHR- 5 Pressure.6 MPa MPa.3 MPa. MPa. MPa F F MHR-3/MDHR Pressure.6 MPa.4 MPa.3 MPa. MPa MHR-3/MDHR Pressure.6 MPa.4 MPa.3 MPa 3. MPa

7 Rotary ctuated ir Gripper -Finger Type MHR/MDHR Series Construction MHR q!4!3 w!9 r e i!5! u y t MDHR q!4!3! w!9!1 i!8!6 e i!7!5 u r! t y MHZ MHF MHL Component Parts No. Description 1 ody daptor body 3 Guide holder 4 Cam 5 Finger assembly 6 Guide 7 Pin 8 Pin roller 9 Vane shaft Joint bolt Material Note luminum alloy Hard anodized luminum alloy Hard anodized Stainless steel Cold rolled steel Nitriding Stainless steel Heat treated Stainless steel Heat treated Heat treated Carbon steel Electroless nickel plated Stainless steel Nitriding Stainless steel, NR M HR-3 is carbon steel NR Chrome molybdenum steel Zinc chromated Component Parts No Description Stopper ack-up ring Hexagon socket head bolt earing Cylindrical roller Magnet Magnet holder Roller O-ring Stopper seal Material Resin Stainless steel plate Stainless steel High carbon chrome bearing steel Stainless steel luminum alloy Stainless steel NR NR Note Hard anodized MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- 51

8 MHR/MDHR Series Nominal Size Without auto switch: MHR-R 3 x thread depth 6 P.C.D.4 (Mounting thread) ø36 MHR-E Port Location C x ø3 depth 6 6 x thread depth 6 ø9 ø9h (35) ø3. ø3. Open: 16 Closed: 8.5 x thread depth 6 (Thread for mounting attachment)

9 Rotary ctuated ir Gripper -Finger Type MHR/MDHR Series With auto switch (uilt-in magnet): MDHR-R 3 x thread depth 6 P.C.D.4 (Mounting thread) MDHR-E Port Location ø C 9.5 ø9h9.36 ø ø3. ø3. Open: 16 Closed: x thread depth 6 (Thread for mounting attachment) (35) uto switch mounting groove x x ø4. Dimensional Differences between MHR and MDHR The following dimensions are different between MHR and MDHR series. nd also, body shapes are different depending on auto switch mounting groove x ø3 depth 6 6 x thread depth MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D MHR MDHR Model -R -E -R -E

10 MHR/MDHR Series Nominal Size 15 Without auto switch: MHR-15R 3 x thread depth 6 P.C.D.9 (Mounting thread) 44 4 MHR-15E Port Location ø C 6 x thread depth 6 ø1h9.43 ø x ø3 depth (45) 1.5 ø3.5.3 ø3.5.3 Open: Closed: x thread depth 6 (Thread for mounting attachment)

11 Rotary ctuated ir Gripper -Finger Type MHR/MDHR Series With auto switch (uilt-in magnet): MDHR-15R 3 x thread depth 6 P.C.D.9 (Mounting thread) 44 4 MDHR-15E Port Location ø C ø1h9.43 ø (45) ø3.5.3 ø3.5.3 Open: Closed: 14 x thread depth 6 (Thread for mounting attachment) uto switch mounting groove x x ø4. 6 x thread depth x ø3 depth MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D

12 MHR/MDHR Series Nominal Size Without auto switch: MHR-R x M4 x.7 thread depth 8 P.C.D.36 (Mounting thread) MHR-E Port Location ø C M5 x.8 13 M5 x.8 M5 x.8 ø4 M5 x.8 6 x M4 x.7 thread depth x ø4 depth 8 ø14h (6) ø4.3 ø4.3 Open: 8 Closed: x M4 x.7 thread depth 8 (Thread for mounting attachment)

13 Rotary ctuated ir Gripper -Finger Type MHR/MDHR Series With auto switch (uilt-in magnet): MDHR-R x M4 x.7 thread depth 8 P.C.D.36 (Mounting thread) MDHR-E Port Location 1 ø C M5 x.8 13 M5 x.8 M5 x.8 ø14h9.43 ø4 M5 x uto switch mounting groove 6 x M4 x.7 thread depth x ø4 depth 8 MHZ MHF MHL MHR 9 MHK (6) x x ø MHS MHC MHT MHY 3 ø4.3 ø4.3 Open: 8 Closed: 16.5 MHW -X x M4 x.7 thread depth 8 (Thread for mounting attachment) MRHQ M D

14 MHR/MDHR Series Nominal Size 3 Without auto switch: MHR-3R x M5 x.8 thread depth P.C.D.43 (Mounting thread) MHR-3E Port Location ø C M5 x.8 14 M5 x.8 M5 x.8 M5 x.8 6 x M5 x.8 thread depth ø16h9.43 ø x ø5 depth 7 (76) ø5.3 ø5.3 4 Open: 37 Closed: x M5 x.8 thread depth (Thread for mounting attachment)