MHR3/MDHR3 Series. Rotary Actuated Air Gripper/3-Finger Type. Size: 10, 15 MDHR 3 10 R M9N S. How to Order. Without auto switch

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1 Rotary ctuated ir Gripper/3-Finger Type MHR3/MDHR3 Series Size:, 1 How to Order Without auto switch MHR 3 R Connecting port R ody side R: ody side Port With auto switch (uilt-in magnet) MDHR 3 R M9N S With magnet (For auto switch) Number of fingers 3 3 fingers Nominal size 1 NIL S Made to Order Refer to page 31 for details. Number of auto switches pcs. 1 pc. Connecting port R: ody side E: xial side Port Port pplicable uto Switches/Refer to pages 797 to 80 for further information on auto switches. uto switch model Lead wire length (m) Type Special Electrical Indicator Wiring Load voltage Electrical entry direction Pre-wired pplicable function entry light (Output) connector load DC C Perpendicular In-line (Nil) (M) (L) (Z) 3-wire (NPN) M9NV M9N IC V, 1V 3-wire (PNP) M9PV M9P circuit -wire 1V M9V M9 Diagnosis 3-wire (NPN) M9NWV M9NW IC V, 1V Relay, (-color Grommet Yes 3-wire (PNP) 4V M9PWV M9PW circuit PLC indication) -wire 1V M9WV M9W Water resistant 3-wire (NPN) M9NV M9N IC V, 1V (-color 3-wire (PNP) M9PV M9P circuit 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 Lead wire length symbols: 0. m Nil (Example) M9N 1 m M (Example) M9NM 3 m L (Example) M9NL m Z (Example) M9NZ Solid state auto switches marked with a symbol are produced upon receipt of order. 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. 30

2 Rotary ctuated ir Gripper 3-Finger Type MHR3/MDHR3 Series Model/Specifications Nominal size ction Holding force (N) (Effective value) (1) at 0. MPa Opening/Closing stroke (Diameter) Weight (g) () Connection port Repeatability Fluid External grip Internal grip Finger closing width (mm) Finger opening width (mm) Stroke (mm) 1 Double acting (1) (30) ±0.01 mm ir Symbol Operating pressure 0. to 0. MPa 0.1 to 0. MPa Without auto switch/ Double acting Internal grip mbient and fluid temperature 0 to 0 Max. operating frequency 180 c.p.m Lubrication Non-lube (3) Note 1) Refer to page 3 Effective Gripping Force for details of gripping force at each gripping point. Valve 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. With auto switch/ Double acting Symbol Symbol -X3 External grip Internal grip External grip Made to Order: Individual Specifications (For details, refer to page 44.) Specifications/Description -X3 Grease change for rotary actuated part Made to Order (Refer to pages 7 to 748 for details.) Specifications/Description Fluorine grease When the finger opening/closing speed is set as the total stroke of 0. seconds or more, it may cause the product to stick or completely stop its movement. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- 31

3 MHR3/MDHR3 Series Gripping Point External grip Limitation of Gripping: External Grip/Internal Grip Workpiece gripping point should be within the gripping point range: L shown below, by operating pressure. MHR3-R/MDHR3- 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. MHR3-1R/MDHR3-1 Internal grip F1 L L L L Effective Gripping Force Guidelines for the selection of the gripper with respect to workpiece mass Selection of the correct model depends upon the workpiece mass, the coefficient of friction between the finger attachment and the component, and their respective configurations. model should be selected with a gripping force of 7 to 14 times that of the workpiece mass. If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be considered. External grip Internal grip 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 three fingers and attachments are in full contact with the workpiece as shown in the figure to the right. 3 Gripping point L: Distance to the gripping point Gripping point L: Gripping point length (mm) F1 F1 Pressure ( MPa) Gripping point L (mm) External Grip MHR3-R/MDHR3- Gripping force (N) Pressure 0. MPa 0. MPa 0.4 MPa 0.3 MPa 0. MPa MHR3-1R/MDHR3-1 Gripping force (N) Gripping point L (mm) Pressure 0. MPa 0. MPa 0.4 MPa 0.3 MPa 0. MPa Gripping point L (mm) Pressure ( MPa) Internal Grip Gripping point L (mm) MHR3-R/MDHR3- Gripping force (N) Pressure 0. MPa 0. MPa 0.4 MPa 0.3 MPa 0. MPa Gripping point L (mm) MHR3-1R/MDHR3-1 Gripping force (N) Pressure 0. MPa 0. MPa 0.4 MPa 0.3 MPa 0. MPa Gripping point L (mm)

4 Rotary ctuated ir Gripper 3-Finger Type MHR3/MDHR3 Series Construction w e!4 r u!!9 y u t MDHR3!4 o e i! MHZ Component Parts No Description ody daptor body Guide holder Cam Finger assembly Guide Pin Pin roller Vane shaft Joint bolt Stopper Replacement Parts Description Cover r!7! t!0!8! i 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 Chrome molybdenum steel Zinc chromated Resin M HR3- P M HR3-1 P33138 Main parts!9 No Description ack-up ring Hexagon socket head bolt earing Cylindrical roller Magnet Magnet holder Roller Cover O-ring Stopper seal!9 y u Material Stainless steel plate Stainless steel High carbon chrome bearing steel Stainless steel luminum alloy Stainless steel luminum alloy NR NR Note Hard anodized Hard anodized MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- 33

5 (3.) MHR3/MDHR3 Series Nominal Size Without auto switch: MHR3-R 3 x thread depth P.C.D.4 (Mounting thread) Finger closing port Finger opening port ø44 ø9 ø9h ø3e Open: 11 Closed: x thread depth (Thread for mounting attachment) 34

6 Rotary ctuated ir Gripper 3-Finger Type MHR3/MDHR3 Series With auto switch (uilt-in magnet): MDHR3-R x thread depth P.C.D.4 (Mounting thread) MDHR3-E Port Location Finger closing port Finger opening port Finger closing port 9. Finger opening port C ø9h x x ø4. ø3e ø44 ø (3.) uto switch mounting groove x thread depth (,, C common view) x ø3 0 depth (,, C common view).8 Open: 11 Closed: 8 -X Dimensional Differences between MHR and MDHR The following dimensions are different between the MHR and MRHQ MDHR series. nd also, body shapes are different depending on auto switch mounting groove. M 19. MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW D- 3 x thread depth (Thread for mounting attachment) Model MHR3-R MDHR3-R 4.7 3

7 MHR3/MDHR3 Series Nominal Size 1 Without auto switch: MHR3-1R 3 x thread depth P.C.D.9 (Mounting thread) Finger closing port Finger opening port ø3 ø34 ø1h (47) 0 1. ø3.e Open: 13. Closed: x thread depth (Thread for mounting attachment) 3

8 Rotary ctuated ir Gripper 3-Finger Type MHR3/MDHR3 Series With auto switch (uilt-in magnet): MDHR3-1R x thread depth P.C.D.9 (Mounting thread) MDHR3-1E Port Location Finger closing port Finger opening port Finger closing port Finger opening port C x ø3 0 depth ø1h ø3 ø34 1. (,, C common view) x thread depth (,, C common view) MHZ MHF 3.1 x ø MHL MHR (47). MHK MHS ø3.e uto switch mounting groove 1 Open: 13. Closed: 9. MHC MHT MHY MHW X MRHQ 1 M D- 3 x thread depth (Thread for mounting attachment) 37

9 Detection example Position to be detected MDHR/MDHR3 Series uto Switch Installation Examples and Mounting Positions Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. 1) Detection when Gripping Exterior of Workpiece/uto Switch Mounted from Direction 1. Confirmation of fingers in reset position. Confirmation of workpiece held 3. Confirmation of workpiece released Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed Operation of auto switch uto switch turned ON when fingers return. (Light ON) uto switch turned ON when gripping a workpiece. (Light ON) When a workpiece is not held (bnormal operation): uto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. Pattern How to determine auto switch installation position C Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers. t no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. In the case of mounting auto switch from direction Step ) Insert the auto switch into the auto switch installation groove from direction. Step 3) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position 0.3 to 0. mm in the direction of the arrow beyond the position where the indicator light illuminates. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Position where light turns ON Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out. 0.3 to 0.mm Position to be secured Step ) Move the auto switch in the opposite direction, and fasten it at a position 0.3 to 0. mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0. mm Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 38

10 Rotary ctuated ir Gripper MDHR/MDHR3 Series ) Detection when Gripping Exterior of Workpiece/uto Switch Mounted from Direction Detection example 1. Confirmation of fingers in reset position. Confirmation of workpiece held 3. Confirmation of workpiece released Position to be detected Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed Operation of auto switch uto switch turned ON when fingers return. (Light ON) uto switch turned ON when gripping a workpiece. (Light ON) When a workpiece is not held (bnormal operation): uto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. Pattern How to determine auto switch installation position C Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers. t no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. In the case of mounting auto switch from direction Step ) Insert the auto switch into the auto switch installation groove from direction. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out Step ) Move the auto switch in the opposite direction and fasten it at a position 0.3 to 0. mm beyond the position where the indicator light illuminates. Position where light turns ON Position where light turns ON Position to be secured Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Move the switch an additional 0.3 to 0. mm in the direction of the arrow and fasten it. 0.3 to 0. mm MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- Position to be secured 0.3 to 0. mm Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 39

11 Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions. 3) Detection when Gripping Interior of Workpiece/uto Switch Mounted from Direction Detection example Position to be detected MDHR/MDHR3 Series uto Switch Installation Examples and Mounting Positions 1. Confirmation of fingers in reset position. Confirmation of workpiece held 3. Confirmation of workpiece released Position of fingers fully closed Position when gripping a workpiece Position of fingers fully opened Operation of auto switch uto switch turned ON when fingers return. (Light ON) uto switch turned ON when gripping a workpiece. (Light ON) When a workpiece is not held (bnormal operation): uto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. Pattern How to determine auto switch installation position C Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers. t no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. In the case of mounting auto switch from direction Step ) Insert the auto switch into the auto switch installation groove from direction. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Move the switch an additional 0.3 to 0. mm in the direction of the arrow and fasten it. Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out. Position where light turns ON 0.3 to 0. mm Step ) Move the auto switch in the opposite direction and fasten it at a position 0.3 to 0. mm beyond the position where the indicator light illuminates. Position to be secured Position where light turns ON 0.3 to 0. mm Position to be secured Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 40

12 Rotary ctuated ir Gripper MDHR/MDHR3 Series 4) Detection when Gripping Interior of Workpiece/uto Switch Mounted from Direction Detection example 1. Confirmation of fingers in reset position. Confirmation of workpiece held 3. Confirmation of workpiece released Position to be detected Position of fingers fully closed Position when gripping a workpiece Position of fingers fully opened Operation of auto switch uto switch turned ON when fingers return. (Light ON) uto switch turned ON when gripping a workpiece. (Light ON) When a workpiece is not held (bnormal operation): uto switch to turn ON (Light ON) Detection combinations One auto switch One position, any of q, w and e can be detected. Two auto switches Two positions of q, w and e can be detected. Pattern How to determine auto switch installation position C Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers. t no pressure or low pressure, connect the auto switch to a power supply, and follow the directions. In the case of mounting auto switch from direction Step ) Insert the auto switch into the auto switch installation groove from direction. Step 3) Slide the auto switch in the direction of the arrow until the light illuminates and fasten it at a position 0.3 to 0. mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0. mm Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates. Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out. Step ) Move the auto switch in the opposite direction, and fasten it at a position 0.3 to 0. mm in the direction of the arrow beyond the position where the indicator light illuminates. Position where light turns ON Position to be secured 0.3 to 0. mm MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D- Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note ) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above table may be limited, depending on the hysteresis of an auto switch, etc. 41

13 MHR/MDHR Series uto Switch Mounting To set the auto switch, insert the auto switch into the installation groove of the gripper from the direction indicated in the following drawing. fter setting the position, tighten the attached auto switch mounting set screw with a flat head watchmaker s screwdriver. uto Switch Hysteresis Please refer to the table as a guide when setting auto switch positions. Model MDHR- MDHR-1 MDHR-0 MDHR-30 Hysteresis (Max. value) (mm) uto switch MDHR Flat head watchmaker s screwdriver uto switch mounting screw (M. x 4L) ø to Note) Use a watchmaker s screwdriver with a grip diameter of to mm to tighten the auto switch mounting screw. The tightening torque should be about 0.0 to 0.1 N m. Hysteresis uto switch operating position (ON) uto switch reset position (OFF) Protrusion of uto Switch from Edge of ody The maximum protrusion of an auto switch (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. MDHR-, 1 MDHR-0, 30 H H L L uto switches of D-M9N, D-M9P, D-M9, and D-M9 are used. uto switches of D-M9NV, D-M9PV, D-M9V, and D-M9 V are used. Max. Protrusion of uto Switch from Edge of ody: L, H uto switch model D-M9 D-M9 V D-M9 ir gripper model D-M9 W M9 WV L MDHR- H L 7 MDHR-1 H 7 (mm) D-M9 V..8.8 uto switches of D-M9NV, D-M9PV, D-M9V, and D-M9 V are used. Max. Protrusion of uto Switch from Edge of ody: H (mm) uto switch model D-M9 V D-M9 V ir gripper model M9 WV MDHR-0 MDHR The auto switch will not protrude in the case of D-M9. 4

14 Rotary ctuated ir Gripper MHR3/MDHR3 Series uto Switch Mounting To set the auto switch, insert the auto switch into the installation groove of the gripper from the direction indicated in the following drawing. fter setting the position, tighten the attached auto switch mounting set screw with a flat head watchmaker s screwdriver. uto Switch Hysteresis Please refer to the table as a guide when setting auto switch positions. Model MDHR3- MDHR3-1 Hysteresis (Max.value) (mm) uto switch MDHR3 Flat head watchmaker s screwdriver uto switch mounting screw (M. x 4L) ø to Hysteresis uto switch operating position (ON) uto switch reset position (OFF) Note) Use a watchmaker s screwdriver with a grip diameter of to mm to tighten the auto switch mounting screw. The tightening torque should be about 0.0 to 0.1 N m. Protrusion of uto Switch from Edge of ody The maximum protrusion of an auto switch (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- MDHR3-1 MHZ MHF MHL MHR MHK L MHS MHC MHT H H MHY MHW When auto switches of D-M9 and D-M9 are used. When auto switches of D-M9 V and D-M9 V are used. When auto switches of D-M9 V and D-M9 V are used. -X MRHQ Max. Protrusion of uto Switch from Edge of ody: L, H D-M9 uto switch model D-M9 W D-M9 D-M9 V M9 WV (mm) D-M9 V Max. Protrusion of uto Switch from Edge of ody: H uto switch model D-M9 V M9 WV (mm) D-M9 V M D- L H..3 H The auto switch will not protrude in the case of D-M9. 43

15 MHR, MDHR/MHR3, MDHR3 Series Made to Order: Individual Specifications 1 Grease Change for Rotary ctuated Part -X3 s a measure against condensation, grease used for the rotary actuated part has been changed to SMC-GF1. Symbol How to Order MHR MDHR MHR3 MDHR3 Standard part number Grease Change for Rotary ctuated Part X3 Specifications Grease Specifications/dimensions other than the above Note) Do not use for lubrication. Fluorine grease (SMC-GF1) Same as the standard type 44

MHR, MDHR/MHR3, MDHR3 Series Specific Product Precautions e sure to read this before handling the products.

Lateral mounting xial side mounting Vertical mounting D uto switch installation groove Model MHR- MHR3- MDHR- MDHR3- xial side mounting Lateral mounting Vertical mounting C D Vertical mounting C MHR

7-30 M x 0.8-3 -1 0.88.1 4.3 0.88 Max. Positioning boss screw-in depth Lmm Dmm Hmm 9h9 1 1h9 1. 8 14h9 1h9 9h9 1 1h9 1.

Provide the following pin insertion hole dimensions: shaft-basis fitting dimension C for the open/close direction; slotted hole with relief for the cross direction.

Opening/closing direction Cross direction Pin insertion hole Max. tightening torque N m 1 to 1. ttachment Finger insertion groove C 1 to 1. Model pplicable bolt - -1-0 M4 x 0.7-30 M x 0.8-3 -1 0.88.

16 MHR, MDHR/MHR3, MDHR3 Series Specific Product Precautions e sure to read this before handling the products. Lateral mounting xial side mounting Vertical mounting D Mounting ir Grippers/MHR/MHR3 Mounting direction of each model is different. Refer to the table at right. Lateral mounting xial side mounting Vertical mounting D uto switch installation groove Model MHR- MHR3- MDHR- MDHR3- xial side mounting Lateral mounting Vertical mounting C D Vertical mounting C MHR with auto switch Lateral mounting Vertical mounting C MDHR With auto switch Lateral mounting xial side mounting Lateral mounting Vertical mounting Positioning boss Model pplicable bolt M4 x M x Max. Positioning boss screw-in depth Lmm Dmm Hmm 9h9 1 1h h9 1h9 9h9 1 1h9 1. How to Locate Finger and ttachment Positioning in the finger's open/close direction Position the finger and the attachment by inserting the finger's pin into the attachment's pin insertion hole. Provide the following pin insertion hole dimensions: shaft-basis fitting dimension C for the open/close direction; slotted hole with relief for the cross direction. Positioning in the finger's cross direction Position the finger and the attachment by placing the finger's width into the attachment's finger insertion groove. Opening/closing direction Cross direction Pin insertion hole Max. tightening torque N m 1 to 1. ttachment Finger insertion groove C 1 to 1. Model pplicable bolt M4 x M x Positioning boss Max. screw-in depth Lmm 8 Positioning boss ore ore Depth Depth dmm hmm How to Mount the ttachment to the Finger To mount the attachment to the finger, make sure to use a wrench to support the attachment so as not to apply undue strain on the finger. Refer to the table below for the proper tightening torque on the bolt used for securing the attachment to the finger. ttachment Max. tightening torque N m Finger Model pplicable bolt M4 x 0.7 M x 0.8 Max. tightening torque N m Model pplicable bolt M4 x M x Max. tightening torque N m Positioning boss Max. Positioning boss screw-in ore ore depth Depth Depth Lmm dmm hmm Finger opening/closing speed: MHR/MHR3 When the finger opening/closing speed is set as the total stroke of 0. seconds or more, it may cause the product to stick or completely stop its movement. Operating Environment Caution Use caution for the anti-corrosiveness of the cross roller section. Martensitic stainless steel is used for the finger guide, so make sure that anti-corrosiveness is inferior to the austenitic stainless steel. In particular, watch for rust in environments where waterdrops are likely to adhere due to condensation. Lubrication/MHR, MHR3 Warning This product should be used without lubrication. If it is lubricated, it could lead to sticking or slipping. 4 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ M D-

Rotary Actuated Air Gripper

Rotary Actuated Air Gripper 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