Air Gripper (2 Finger) (3 Finger)

Transcription

1 Rotary Actuated Air Gripper ( Finger) (3 Finger) MHR/MDHR, MHR3/MDHR3 High Precision - Repeatability ±0.01mm Parallel opening and closing mechanism utilizing a cross roller guide produces smooth operation without play, with high precision and long life. Applicable for Clean Room Class Cross roller movement has minimal friction and prevents dust generation. used for finger, guide and cross roller section inhibits rust. Vacuum at the relief port will remove interior dust for clean room applications. Ball bearing Rotary actuator Universal Mounting Axial side mounting ateral side mounting Vertical side mounting Guide holder Cross roller guide Ball bearing MDHR MDHR3 Possible to mount solid state with indicator light D-F9. Easy to locate to optimum set point..3-1

2 High Rigidity Fingers operate smoothly as the holder maintains the guide from the outside and prevents finger displacement. ow Profile Compact design even during actuation. Connection Port on Sides port port Internal/External Holding Capability MHZ MHQ MH MHR MHK MHS MHC MHT MHY MHW Standard Model Rotary actuated air gripper finger 3 finger MHR MDHR MHR3 MDHR3 (Nominal size) 0 30 P..3-3 to P P to P..3- MRHQ.3-

3 Rotary Actuated Air Gripper Series MHR3/MDHR3 3 Finger/ø, ø How to Order Connecting port R Body side R:Body side Ports Without auto MHR 3 R With auto (Built-in magnet) MDHR 3 R F9N S With magnet (For auto ) Number of fingers 3 3 fingers Number of auto es S 1 Connecting port R: Body side Ports E: Axial side Nominal size Ports Type of auto Without auto specifications Type Special Electrical function entry Indicator light oad voltage model no. Wiring (Output) DC AC Perpendicular In-line These auto es have been changed Contact SMC or view F9N M9N F9P M9P F9B M9B ead wire length (m) 0. ( ) F9NV M9NV F9PV M9PV F9BV M9BV 3 () Applicable load Solid state Grommet With 3-wire (NPN) 3-wire (NPN) 4V V 1V -wire 1V F9BV F9B ead wire length: 0.m... (Example) F9BV 3m... (Example) F9BV Refer to p for auto specifications. F9NV F9PV F9N F9P IC Relay, PC.3-17

4 3 Finger Air Gripper Series MHR3/MDHR3 Symbol Model/Specifications Nominal size Action Double acting External hold Holding force (N) (Effective value) (1) 7 13 at 0.MPa Internal hold 6. 1 Finger closing width (mm) Opening/closing stroke Finger opening width (mm) 7 (Diameter) Stroke (mm) 6 8 Weight (g) () () (30) Connection port Repeatability ±0.01mm Fluid Air Operating pressure 0. to 0.6 MPa 0. to 0.6 MPa Ambient and fluid temperature 0 to 60 o C Max. operating frequency 180c.p.m ubrication Non-lube Note 1) Refer to p [Effective Holding Force] for details of holding force at each holding point. Valve of effective holding force is measured at the middle of opening/closing stroke. Note ) ( ) Value shows MDHR weight, but it does not include auto weight. Caution Be sure to read before handling. Refer to p.0-0 and 0-1 for Safety Instructions and common precautions on the products mentioned in this catalogue, and refer to p..0-3 and.0-4 for precautions on every series. MHZ MHQ MH MHR MHK MHS MHC MHT MHY MHW MRHQ.3-18

5 Series MHR3/MDHR3 Holding Point External hold imitation of holding: External hold/internal hold Work holding point should be within the holding point range: shown below, by operating pressure. MHR3-R/MDHR3- When the work holding point is out of the limiting range, the unbalanced load applied to the finger and the guide section may cause excessive play in fingers and have an adverse effect on the gripper life. MHR3-R/MDHR3- Internal hold Holding point : Distance to the holding point Pressure (MPa) Pressure (MPa) Effective Holding Force Guidelines for the selection of the gripper with respect to component weight Selection of the correct model depends upon the component weight, the coefficient of friction between the finger attachment and the component, and their respective configurations. A model should be selected with a holding force of 7 to 14 times that of the component weight. If high accelleration, decelleration or impact forces are encountered during motion a further margin of safety should be considered. External hold External hold MHR3-R/MDHR3- Internal hold MHR3-R/MDHR Holding point (mm) Holding point (mm) Holding point Holding force (N) Pressure 0.6MPa 8 0.MPa 6 0.4MPa 4 0.3MPa 0.MPa Holding force (N) 8 Pressure 0.6MPa 0.MPa 6 0.4MPa 4 0.3MPa 0.MPa Internal hold Holding point (mm) MHR3-R/MDHR3-0 Holding point (mm) MHR3-R/MDHR3-0 : Holding point length mm Indication of effective holding force The holding force shown in the tables represents the holding force of one finger when all fingers and attachments are in contact F1 with the work. F1 Holding force (N) 0 Pressure 0.6MPa 0.MPa 0.4MPa 0.3MPa 0.MPa Holding point (mm) Holding force (N) 0 Pressure 0.6MPa 0.MPa 0.4MPa 0.3MPa 0.MPa Holding point (mm) F1.3-19

6 3 Finger Air Gripper Series MHR3/MDHR3 Construction MHR3 w e!4 r i!!9 y u t w o e i! MHZ MHQ Component Parts No. q w e r t y u i o!0!1 Description Body Adaptor body Guide holder Cam Finger ass'y Guide Pin Pin roller Vane shaft Joint bolt Stopper r!7!6 t!0!8! i Material Aluminum alloy Aluminum alloy Cold rolled steel Carbon steel Chrome molybdenum steel Resin Note Anodized Anodized Nitriding Heat treatment Heat treatment Heat treatment Electroless nickel plated Nitriding Zinc chrome Component Description Back-up ring Hexagon socket head bolt Bearing Cylindrical roller Magnet Magnet Holder Roller Cover O ring Stopper packing!9 y u Material plate High carbon chrome steel Magnetic material Aluminum alloy Aluminum alloy NBR NBR Note Anodized Nitriding Anodized MH MHR MHK MHS MHC MHT MHY MHW MRHQ.3-0

7 Series MHR3/MDHR3 ø Without Switch: MHR3-R (36.) Open: 11 Closed: X thread depth 6 (Thread for mounting attachment) ø44 ø9h ø9 ø3e X thread depth 6 P.C.D4 (Mounting thread).3-1

8 3 Finger Air Gripper Series MHR3/MDHR3 With Switch (Built-in magnet): MDHR3-R MDHR3-E port position X 0. thread depth 6 (Thread for mounting attachment) depth 6 (A, B, C common view) ø44 6 X thread depth 6 (A, B, C common view) ø9h ø9 MHZ MHQ MH Open: 11 Closed: ø4. ø3e (36.) mounting groove MHR MHK MHS MHC Dimensional differences between MHR and MDHR Regardless of auto installation, some body dimensions are different. A X 0. thread depth 6 P.C.D4 (Mounting thread) MHT MHY MHW MRHQ A 40 B Model MHR3-R MDHR3-R A 4.7 C.3-

9 Series MHR3/MDHR3 ø Without Switch: MHR3-R X thread depth 6 (Thread for mounting attachment) ø3 ø1h ø (47) 0 1. Open: 13. Closed: 9. ø3.e X thread depth 6 P.C.D9 (Mounting thread).3-3

10 3 Finger Air Gripper Series MHR3/MDHR3 With Switch (Built-in magnet): MDHR3-R MDHR3-E port position (A, B, C common view) ø3 6 X thread depth 6 (A, B, C common view) ø1h ø ø (47). ø3.e X thread depth 6 (Thread for mounting attachment) depth 6 MHZ MHQ MH MHR MHK 1 Open: 13. Closed: 9. MHS mounting groove MHC A X thread depth 6 P.C.D9 (Mounting thread) MHT MHY MHW MRHQ 48 B C.3-4

11 Series MHR3/MDHR3 Method for Setting Switch To set the auto, insert the auto into the groove of the air gripper from the direction indicated in the following drawing. After setting the position, tighten the attached mounting set screw with a straight bladed watchmakers screwdriver. Switch Hysteresis Please refer to the table as a guide when setting auto positions. Model MDHR3- MDHR3- Hysteresis (Max.value)mm 0.6 MDHR3 Straight bladed watchmakers screwdriver Switch set screw (M. X 4l) ø to 6 Note) Use a watchmakers screwdriver with a grip diameter of to 6mm to tighten the auto set screw. Use a tightening torque of 0.0 to 0.1N m. As a rough guide, tighten the screw an additional 90 after feeling a tight resistance. Hysteresis Switch operating position(on) Switch return position(off) Protrusion of Switch from Edge of Body The maximum protrusion of an auto (when fingers are fully open) from the edge of the body is shown in the table below. Use the table as a guideline for mounting. MDHR3- H MDHR3- H When auto D-F9N, D-F9P, D-F9B is used. When auto D-F9NV, D-F9PV, D-F9BV is used. When auto D-F9NV, D-F9PV, D-F9BV is used. Max. protrusion of auto from edge of body:, H Unit: mm model no. D-F9N D-F9P, D-F9B D-F9NV, D-F9PV, D-F9BV 3.1 H.3 Max. protrusion of auto from edge of body: H MDHR3-1.3 Unit: mm The auto will not protrude in the case of D-F9N, D-F9P, D-F9B..3-