Parallel Grippers- Miniature Series

Transcription

1 RPM SERIES 1.16 Parallel Grippers- Miniature Series Precision applications: Preloaded dual- V roller bearings eliminate side play for excellent part position repeatability. Miniature size: Compact design allows for gripping small parts in small spaces. Top manifold: Grippers can be manifolded through the top mounting surface. This eliminates the need for air fittings and allows grippers to be mounted in close array. Repeatable grip force: Low friction mechanism allows for consistent, repeatable gripping forces. To grip delicate parts, grip force can be easily altered by adjusting air pressure. Mounting Information: Gripper can be mounted and operated in any orientation Technical Specifications: Pneumatic Specifications Imperial Metric Pressure Operating Range -1 psi 1.3- bar Cylinder Type ouble cting ynamic Seals Internally Lubricated Buna-N Valve Required to Operate -way, -position ir uality Requirements ir Filtration ir Lubrication ir Humidity Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C Viton Seals (optional) - ~5 F -3 ~1 C Body mounts with screws and locates with slip fit dowel pins for accuracy G Unit has top manifold ports Maintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative Maintenance 1+ million cycles* Field Repairable Yes Seal Repair Kits vailable Yes Fingers attach to jaws with screws and locate with dowel pins or by keying pplication restrictions irty or gritty environments Machining operations generating chips Environments with loose particulate pplications where mechanism lubricant could cause contamination *ddition of lubrication will greatly increase service life See Maintenance Section

2 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 1 Slip Fit owel Pin Holes Located in body and jaws One Piece Body One piece lightweight aluminum body Product Features uality Components Internal drive components are made from hardened bearing and tool steels Style -RPM Parallel Gripper Size -1M Style: n RPM-1M Stroke:.13 in. 3. mm Grip Force: 8 lbs. 36 N Weight:.5 lbs.. Kg See Page 1.18 RPM SERIES 1.1 djustable Preload djustable preload screw allows for adjustment of preload on roller bearings Roller Bearings Patented ual- V roller bearings provide low friction rolling motion and maximum rigidity for fingers Body Operating Principle Self Lubricating ynamic Seals Buna-N only Preloaded Bearings Bearings are preloaded for maximum support and zero side play Cap Piston Style -RPM Parallel Gripper Size -M Style: n RPM-M Stroke:.19 in..8 mm Grip Force: 8 lbs. 36 N Weight:.58 lbs..3 Kg See Page 1.19 Style -RPM Parallel Gripper Size -3M Style: n RPM-3M Stroke:.5 in. 6.3 mm Grip Force: 8 lbs. 36 N Weight:. lbs..3 Kg See Page 1.11 ouble Pin Wedge Roller Bearings and Cages Preload djustment Screw Roller Way Jaw Exhaust Pressure Pressure Exhaust Open Position Closed Position double acting piston is connected by a shaft to a double sided pin wedge. The pin wedge slides in a hole located in each of the jaws converting vertical motion of the wedge into horizontal synchronous motion of the jaws. This gripper is suitable for internal or external gripping.

3 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 18 RPM SERIES 1.18 PRLLEL GRIPPER RPM-1M MINITURE SERIES.95 [.] X.3 [8].1 [.5] CLOSE.1 [1.5] X M3 IR PORTS (OPEN).9 [3] Specifications RPM-1M Total Rated Grip Force 1 psi, bar 8 lbs. 36 N Stroke in. 3. mm Weight lbs.. Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position.6 [19.] OPEN.63 [16] CLOSE.11.1 [.8.3].315 [8.] X M X. X.9 [] P X Ø.8SF X.6 P [Ø H X 1.5 P]..1 [5.69.3].68 [19.5] X M X.18 [.5] P OPEN.98 [.5].559 [6.5]. [1.].63 [16.] VIEW - X.138 [3.5] X M UX. IR PORTS SUPPLIE PLUGGE (CLOSE).58 [13.].63 [16.] X Ø.8 SF X.13 P [Ø H X 3.3 P] UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW imensions are symmetrical about centerline Metric Threads Course Pitch Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic Model) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS M 1.5 in. 38mm BSIC MOEL RPM-1M - V VITON SELS PNEUMTIC CCESSORIES Order # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-1V 1 L C T Y X M X MY Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING.6 [16] PLFT-1 IR FITTING.68 [1] SLKT-1V O-RINGS FOR MNIFOL OPTION (C BORE Ø.15 X..1 P) M3 PLUGS FOR MNIFOL OPTION

4 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite [5.5] X.36 [9].6 [5.] CLOSE.1 [1.5] X M3 IR PORTS (OPEN).98 [5] PRLLEL GRIPPER RPM-M MINITURE SERIES Specifications RPM-M Total Rated Grip Force 1 psi, bar 8 lbs. 36 N Stroke in..8 mm Weight lbs..6 Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in 3.. cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position RPM SERIES [.8] OPEN.63 [16] CLOSE.8 [1.] X M X.18 [.5] P. [1.].63 [16.] OPEN..1 [5.69.3].11.1 [.8.3].98 [.5].315 [8.].559 [6.5] VIEW - X M X. X.9 [] P X Ø.8 SF X.6 P [Ø H X 1.5 P] X.138 [3.5] X M UX. IR PORTS SUPPLIE PLUGGE (CLOSE).58 [13.].63 [16.] X Ø.8 SF X.13 P [Ø H X 3.3 P] UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW imensions are symmetrical about centerline Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Metric Threads Course Pitch Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic Model) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] M WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS 1.5 in. 38mm BSIC MOEL RPM-M - V VITON SELS PNEUMTIC CCESSORIES Order # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-1V 1 L C T Y X M X MY Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING.6 [16] PLFT-1 IR FITTING.68 [1] SLKT-1V O-RINGS FOR MNIFOL OPTION (C BORE Ø.15 X..1 P) M3 PLUGS FOR MNIFOL OPTION

5 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 11 RPM SERIES 1.11 PRLLEL GRIPPER RPM-3M MINITURE SERIES 1. [5.5] X.38 [1].31 [8.] CLOSE.1 [1.5] X M3 IR PORTS (OPEN).98 [5] Specifications RPM-3M Total Rated Grip Force 1 psi, bar 8 lbs. 36 N Stroke in. 6.3 mm Weight lbs..3 Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in 3..5 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position 1.[6.] OPEN.9 [] CLOSE.11.1 [.8.3]..1 [5.69.3].39 [1.] X M X. X.9 [] P 1.3 [6.5] X M3 X. [5.1] P OPEN.98 [.5].953 [.5] VIEW - X Ø.8 SF X.6 P [Ø H X 1.5 P] X.138 [3.5].33 [11.].63 [16.] UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW X M UX. IR PORTS SUPPLIE PLUGGE (CLOSE).58 [13.].8 [.] X Ø.1181 SF X. P [Ø 3 H X 5. P] imensions are symmetrical about centerline Metric Threads Course Pitch Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic Model) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] M WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS 1.5 in. 38mm BSIC MOEL RPM-3M - V VITON SELS PNEUMTIC CCESSORIES ORER # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-1V 1 L C T Y X M X MY Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING.6 [16] PLFT-1 IR FITTING.68 [1] SLKT-1V O-RINGS FOR MNIFOL OPTION (C BORE Ø.15 X..1 P) M3 PLUGS FOR MNIFOL OPTION

6 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 111 RPM SERIES EXPLOE VIEW Item ty Name 1 1 Body Jaw 3 1 Wedge 1 Piston 5 1 Cap 6 Way Kit,Roller Bearings nd Cage 8 1 Preload 1 owel Pin 15 Stop Screw RPM SERIES MINTENNCE (BORES) 8 15 NOTE: Contact the Robohand Sales epartment for a complete spare parts list with order numbers and prices. ssembly Procedure 1) Lubricate and install seals ) Install pins (1) and wedge (3) into body 3) Install piston (), screw, cap (5), & retaining ring ) Install set screws for airport plugs 5) Install jaws () over pins 6) Install ways (6),cages (), & screws (15) Preload djustment 1) Install preload screw (8) w/loctite on 1st 6-8 threads ) Tighten until there is no side-pay in the jaws 3) Cycle gripper (w/fingers preferably) ) Recheck for play in jaws & tighten or loosen as needed 1 SK Seal Repair Kit Order # s See Product ata Sheets 3 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight Machine Oil Teflon Based Grease Super Bonder Third ngle

7 P P 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 11 RPM SERIES MINTENNCE 1.11 RPM SERIES SSEMBLE VIEW Item ty Name 1 1 Body Jaw 3 1 Wedge 1 Piston 5 1 Cap 6 Way Kit,Roller Bearings nd Cage 8 1 Preload 1 owel Pin 15 Stop Screw NOTE: Contact the Robohand Sales epartment for a complete spare parts list with order numbers and prices. P 6 Non-Repairable Items List NONE P 1 SK Seal Kit Items Thread Locker KRYTOX Krytox Lubricant Lightweight Machine Oil Teflon Based Grease Super Bonder Third ngle P

8 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 113 ULITY PRECISION ESIGNURBILITY NOTES PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY Please see back cover ULITY for E-ST-CO Global Locations. PRECISION RPM SERIES 1.113

9 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 11 RPMC SERIES 1.11 Parallel Grippers- Miniature Clean Room Series Precision applications: Preloaded dual- V roller bearings eliminate side play for excellent part position repeatability. Miniature size: Compact design allows for gripping small parts in small spaces. Top manifold: Grippers can be manifolded through the top mounting surface. This eliminates the need for air fittings and allows grippers to be mounted in close array. Clean room rated: corrosion resistant shield protects the drive and bearing mechanism. ll internal components are lubricated with clean room grade grease. The scavenge port can be used with vacuum pressure to prevent escape of particulate generated by the internal mechanism. Harsh environments: ll moving components are located within the corrosion resistant cover. The body has a purge port which can expel contaminates from the mechanism using low pressure compressed air. Mounting Information: Gripper can be mounted and operated in any orientation Technical Specifications: Pneumatic Specifications Imperial Metric Pressure Operating Range -1 psi 3- bar Cylinder Type ouble cting ynamic Seals Internally Lubricated Buna-N Valve Required to Operate -way, -position ir uality Requirements ir Filtration ir Lubrication ir Humidity Micron or Better Not Necessary* Low Moisture Content (dry) Body mounts with screws and locates with slip fit dowel pins for accuracy G Unit has top manifold ports Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C Viton Seals (optional) - ~5 F -3 ~1 C Maintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative Maintenance 1+ million cycles* Field Repairable Yes Seal Repair Kits vailable Yes *ddition of lubrication will greatly increase service life See Maintenance Section Fingers attach to jaws with screws and locate with dowel pins or by keying

10 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 115 Preload Bearings Bearings are preloaded for maximum support and Purge/ Scavenge Port Purge/Scavenge port for extreme environments from dirty & gritty to clean-room Class 1 or better djustable Preload Screw djustable preload screw allows for adjustment of preload on roller bearings Roller Bearings Patented ual- V roller bearings provide low friction rolling motion and maximum rigidity for fingers Product Features Hard Coat nodize The body has hard-coat anodize 6 RC with Teflon impregnation uality Components External components are made from corrosion resistant materials for resistance to de-ionized water or for use in F & medical parts handling applications Style -RPMC Parallel Gripper Size -1M Style: n RPMC-1M Stroke:.13 in. 3. mm Grip Force: 8 lb 36 N Weight:.5 lb. Kg zero side play Clean Room Contaminants Units are lubricated with a clean-room grade grease Slip Fit owel Pin Holes Located in body and jaws One Piece Body One piece lightweight aluminum body Stainless Steel Cover Stationary and non-contacting cover eliminates the possibility of particle generation See Page Style -RPMC Parallel Gripper Size -M Style: n RPMC-M Stroke:.19 in..8 mm Grip Force: 8 lb 36 N Weight:.58 lb.3 Kg See Page 1.11 RPMC SERIES Body Operating Principle Cap Style -RPMC Parallel Gripper Size -3M Style: n RPMC-3M Stroke:.5 in. 6.3 mm Grip Force: 8 lb 36 N Weight:. lb.3 Kg Piston ouble Pin Wedge Purge/Scavenger Port Roller Bearings and Cages Shield See Page Preload djustment Screw Roller Way Jaw Pressure Exhaust Exhaust Pressure Open Position Closed Position double acting piston is connected by a shaft to a double sided pin wedge. The pin wedge slides in a hole located in each of the jaws converting vertical motion of the wedge into horizontal synchronous motion of the jaws. This gripper is suitable for internal or external gripping.

11 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 116 RPMC SERIES PRLLEL GRIPPER RPMC-1M MINITURE CLEN ROOM SERIES.95 [.] X.3 [8].1 [.5] CLOSE.1 [1.5].6 [19.] OPEN.63 [16] CLOSE X M3 X.5 IR PORT (OPEN).63 [16.].9 [3] M3 X.5 PURGE OR SCVENGE PORTS Specifications RPMC-1M Total Rated Grip Force 1 psi, bar 8 lb 36 N Stroke in. 3. mm Weight lb. Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation Time sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position X.11 [.8].315 [8.] X M X. X.9 P X Ø.8 SF X.6 P [Ø H X 1.5 P].89 [3]..1 [5.69.3] X M X. PURGE OR SCVENGE PORTS WITH REMOVEBLE PLUGS.68 [19.5]. [1.] X M X.18 [.5] P.63 [16.] OPEN.98 [.5].559 [6.5] VIEW [3.5] X M X. UX. IR PORT (CLOSE).58 [13.].63 [16.] X Ø.8 SF X.13 P [Ø H X 3.3 P] UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW imensions are symmetrical about centerline Metric Threads Course Pitch Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order Separately ) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] M WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS 1.5 in. 38mm BSIC MOEL RPMC-1M - V VITON SELS PNEUMTIC CCESSORIES ORER # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-13V 1 L C T M X Y MY X For etailed ccessory Mounting Technical ata Refer to ccessories Section Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING PLFT-1 IR FITTING.6 [16].68 [1] O-RING FOR MNIFOL OPTION: (C BORE Ø.15 X..1 P) FOR RPMC-3M TOP PURGE PORTS: (C BORE Ø.188/.183 X.9.1 P) M3 PLUG FOR MNIFOL OPTION

12 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite [5.5] X.36 [9].6 [5.] CLOSE.1 [1.5] X M3 X.5 IR PORT (OPEN).669 [1.].98 [5] PRLLEL GRIPPER RPMC-M MINITURE CLEN ROOM SERIES Specifications RPMC-M Total Rated Grip Force 1 psi, bar 8 lb 36 N Stroke in..8 mm Weight lb.6 Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in 3.. cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation Time sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position RPMC SERIES [.8] OPEN.63 [16] CLOSE M3 X.5 PURGE OR SCVENGE PORT.315 [8.] X M X. X.9 P X Ø.8 SF X.6 P [Ø H X 1.5 P] X M X. PURGE OR SCVENGE PORTS WITH REMOVEBLE PLUGS X.138 [3.5].9 [.].8 [1.] X M X. X.18 P. [1.].63 [16.] OPEN..1 [5.69.3].11 [.8].98 [.5].559 [6.5] VIEW - UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW X M X. UX. IR PORT (CLOSE).58 [13.].63 [16.] X Ø.8 SF X.13 P [Ø H X 3.3 P] imensions are symmetrical about centerline Metric Threads Course Pitch Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order Separately ) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS M 1.5 in. 38mm BSIC MOEL RPMC-M - V VITON SELS PNEUMTIC CCESSORIES ORER # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-13V 1 L C T M X Y MY X For etailed ccessory Mounting Technical ata Refer to ccessories Section Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING PLFT-1 IR FITTING.6 [16].68 [1] O-RING FOR MNIFOL OPTION: (C BORE Ø.15 X..1 P) FOR RPMC-3M TOP PURGE PORTS: (C BORE Ø.188/.183 X.9.1 P) M3 PLUG FOR MNIFOL OPTION

13 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 118 RPMC SERIES PRLLEL GRIPPER RPMC-3M MINITURE CLEN ROOM SERIES 1.5 [5.5] X.38 [1].31 [8.] CLOSE.1 [1.5] X M3 X.5 IR PORTS (OPEN).9 [18.].98 [5] Specifications RPMC-3M Total Rated Grip Force 1 psi, bar 8 lb 36 N Stroke in. 6.3 mm Weight lb.3 Kg Pressure Range psi 3- bar Cylinder Bore Ø in. 1. mm isplacement in 3..5 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation Time sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position 1.[6.] OPEN.9 [] CLOSE M3 X.5 PURGE OR SCVENGE PORTS.±.1 [5.69±.3].11 [.8].39 [1.] X M X. X.9 P X M3 X.5 PURGE OR SCVENGE PORTS WITH REMOVEBLE PLUGS X.138 [3.5] 1.16 [3.] 1.3 [6.5].33 [11.] X M3 X.5 X. P.63 [16.] OPEN.98 [.5].953 [.5] VIEW - X Ø.8SF X.6 P [ØH X 1.5 P] UNLESS OTHERWISE NOTE LL TOLERNCES RE S SHOWN BELOW X M X. UX. IR PORT (CLOSE).58 [13.].8 [.] X Ø.1181SF X. P [Ø3H X 5. P] imensions are symmetrical about centerline Metric Threads Course Pitch Third ngle ll owel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. Metric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order Separately ) FINGER FORCE - N lbs GRIP FORCE PER FINGER EFFECTIVE FINGER LENGTH - L 1 PSI [ bar] 8 PSI [5.5 bar] 6 PSI [.1 bar] PSI [. bar] PSI [1. bar] WRNING! O NOT EXCEE MXIMUM EFFECTIVE FINGER LENGTHS M 1.5 in. 38mm BSIC MOEL RPMC-3M - V VITON SELS PNEUMTIC CCESSORIES ORER # TY/UNIT M3 Plumbing Fitting Push-in for 3mm O.. Tube PLFT-1 M3 Plumbing Fitting Barb for mm I.. Tube PLFT- Standard Seal Repair Kit SLKT-11 1 Viton Seal Repair Kit SLKT-11V 1 Top ir Ports Manifold Seal Kit (available in Viton only) SLKT-13V 1 L C T M X Y MY X For etailed ccessory Mounting Technical ata Refer to ccessories Section Loading Capacity Static ynamic Imperial Metric Imperial Metric Maximum Tensile T lbs. 89 N lbs. 31 N Maximum Compressive C lbs. 89 N lbs. 31 N Maximum Moment Mx 1 in.-lbs. 1 Nm in.-lbs..5 Nm Maximum Moment My 15 in.-lbs. Nm 5 in.-lbs..6 Nm Maximum Moment Mz 1 in.-lbs. 1 Nm in.-lbs..5 Nm Capacities are per set of jaws and are not simultaneous PLFT- IR FITTING PLFT-1 IR FITTING.6 [16].68 [1] O-RING FOR MNIFOL OPTION: (C BORE Ø.15 X..1 P) FOR RPMC-3M TOP PURGE PORTS: (C BORE Ø.188/.183 X.9.1 P) M3 PLUG FOR MNIFOL OPTION

14 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 119 RPMC SERIES EXPLOE VIEW Item ty Name 1 1 Body Jaw 3 1 Wedge 1 Piston 5 1 Cap 6 Way Kit,Roller Bearings nd Cage 8 1 Screw,Preload 1 Shield,Side 11 1 Shield,Top 1 owel Pin 15 Stop Screw RPMC SERIES MINTENNCE NOTE: Contact the Robohand Sales epartment for a complete spare parts list with order numbers and prices. ssembly Procedures 1) Lubricate and install seals. ) Install pins (1) and wedge (3) into body. 3) Install piston (), screw, cap (5), & Retaining Ring. ) Install set screws for air port plugs. 5) Install jaws () over pins. 6) Install ways (6), cages (), & screws (15). 6 (BORES) 8 15 Preload djustment 1) Install preload screw (8) with Loctite on first 6-8 threads. ) Tighten until there is no side play in the jaws. 3) Cycle gripper(w/finger assembly) ) Recheck for play in jaws & tighten or loosen as needed SK Seal Repair Kit Order # s See Product ata Sheets 11 SK KRYTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight Machine Oil Teflon Based Grease Super Bonder Third ngle

15 P P 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 1 RPM SERIES MINTENNCE 1.1 RPMC SERIES SSEMBLE VIEW Item ty Name 1 1 Body Jaw 3 1 Wedge 1 Piston 5 1 Cap 6 Way Kit,Roller Bearings nd Cage 8 1 Screw,Preload 1 Shield,Side 11 1 Shield,Top 1 owel Pin 15 Stop Screw NOTE: Contact the Robohand Sales epartment for a complete spare parts list with order numbers and prices. P P 1 11 SK Seal Kit Items Thread Locker KRYTOX Krytox Lubricant Lightweight Machine Oil Teflon Based Grease Super Bonder Third ngle P

16 1_16-1_11 RPM-RPMC_(ENG_)_Layout : Seite 11 ULITY PRECISION ESIGNURBILITY NOTES PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY ULITY PRECISION ULITY PRECISION URBILITY PRECISION URBILITY ULITY URBILITY Please see back cover ULITY for E-ST-CO Global Locations. PRECISION RPMC SERIES 1.11