Indicator light Indicator light Rotary Gripper Series MRHQ Size:, 1,, 25 How to Order Lead wire length Nil L Z.5 m 3 m 5 m MRH Q D 9 S M9NV L M9N L Q Rotary gripper Gripper Parallel type: 2 fingers D S C Gripper bore 1 25 Action Double acting Single acting (Normally open) Single acting (Normally closed) Unit list mm 1 mm mm 25 mm Rotation angle 9 18 9 18 Single vane Number of auto switches Nil S 2 pcs. 1 pc. Type of auto switch for detecting rotation Nil Without auto switch Applicable Auto Switch Load voltage Auto switch model Lead wire length Type Electrical Wiring (m) Electrical entry Applicable entry (output) DC.5 3 5 load In-line (Nil) (L) (Z) 3-wire (NPN) 5 V M9N IC Relay Grommet 3-wire (PNP) 24 V 12 V M9P circuit PLC 2-wire 12 V M9B Solid state switch Yes Lead wire length symbols:.5 m... Nil (Example) M9N 3 m... L M9NL Refer to page 12-13-1 for further information on auto switches. Auto switches marked with a "" are made upon receipt of order. Type of auto switch for gripper opening/closing N Without auto switch Applicable Auto Switch Load voltage Auto switch model Lead wire length Type Electrical Wiring (m) Electrical entry entry (output) DC.5 3 5 Perpendicular (Nil) (L) (Z) 3-wire (NPN) 5 V M9NV IC Grommet 3-wire (PNP) 24 V 12 V M9PV circuit 2-wire 12 V M9BV Solid state switch Yes Lead wire length symbols:.5 m... Nil (Example) M9NV 3 m... L M9NVL Refer to page 12-13-1 for further information on auto switches. Auto switches marked with a "" are made upon receipt of order. Applicable load Relay PLC Gripper unit Model MRHQD MRHQS MRHQC MRHQ1D MRHQ1S MRHQ1C MRHQD MRHQS MRHQC MRHQ25D MRHQ25S MRHQ25C Unit part no. P79-3D P79-3S P79-3C P7-3D P7-3S P7-3C P78-3D P78-3S P78-3C P88-3D P88-3S P88-3C Switch mounting unit Switch holder B Switch case Switch holder A Model MRHQ MRHQ1 MRHQ MRHQ25 Unit part no. P79-1 P7-1 Each unit includes two of each of the parts indicated left. Switches are not included with a unit. 12-11-4
9 Rotary Gripper Series MRHQ Specifications Fluid Rotary unit Operating pressure Gripper Double acting unit Single acting Rotation angle Gripper action Finger opening/closing repeatability Gripper maximum operating frequency Ambient and fluid temperature Adjustable rotation time Note) Allowable kinetic energy Air 9 ±, 18 ± Double acting, Single acting ±.1mm 18 c.p.m 5 to C.7 to.3 s/9 (at.5 MPa) Rotary unit Solid state switch (2-wire, 3-wire) Auto switch Gripper unit Solid state switch (2-wire, 3-wire) Note) Operate within the speed adjustment range, as speed control exceeding the limit value of the low speed may cause sticking or failure to operate. Model Action Double acting Single acting Model Model MRHQD MRHQ1D MRHQD MRHQ25D MRHQS MRHQC MRHQ1S MRHQ1C MRHQS MRHQC Cylinder bore (mm) 1 25 1 MRHQ25S 25 MRHQ25C Note) Values do not include auto switch weight. MRHQ MRHQ1 MRHQ MRHQ25.25 to.7 MPa.25 to 1. MPa.25 to.7 MPa.1 to.7 MPa.35 to.7 MPa.25 to.7 MPa.4 J.14 J.34 J.74 J Opening/Closing stroke (mm) 4 14 4 14 Rotating angle ( ) 9 18 9 18 9 18 9 18 9 18 9 18 9 18 9 18 Note) Weight (g) 3 35 593 591 55 52 151 1555 37 3 594 592 57 15 15 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Gripper Rotation Range/View from Gripper Side The figure at the right indicates the position of the gripper when pressure is applied to port B. When pressure is applied to port A, the gripper rotates clockwise. 18 Rotary port A Rotary port B 12-11-5
Series MRHQ Model Selection 1 2 3 Procedure Calculation Example Operating conditions Enumerate the operating conditions according to the mounting position and workpiece configuration. Vertical mounting Rotation time Horizontal mounting Confirm that it is within the adjustable rotation time range. Overhang and gripping point distance Confirm that the overhang (H) and the gripping point distance (L) are within the operating pressure range limit. Model used Operating pressure Mounting position Rotation time t (s) Overhang H (mm) Gripping point distance L (mm) Distance between central axis and center of gravity h (mm) Load weight m1 (kg) Weight of 2 attachments m2 (kg).7 to.3 s/9 Graph (1) Gripping point range limit a O h Rotary gripper: MRHQ1D-9S Pressure:.4 MPa Mounting position: Horizontal Rotation time (t):.2 s/9 Overhang (H): mm Gripping point distance (L): mm Distance between central axis and center of gravity (h): mm Load weight (m1):.7 kg Weight of 2 attachments (m2):.5 kg G.2 s/9 OK Within the range limit Please refer to page 12-11-12 for drawing dimensions. b OK 4 5 7 Load weight Confirm that the load converted from the load weight is less than 1/ of the effective gripping force. (A greater margin must be allowed if large impacts will be applied when work pieces are transported.) External force on finger Make sure that the vertical load and each moment on finger are within allowable value. Rotational torque (horizontal mounting only) Convert the weight of the load and attachments (2 pcs.) into a load value and multiply by the overhang (H). Confirm that this value is less than 1/ of the effective torque. Graph (2) x 9.8 x m1 < Effective gripping force (N) Less than allowable value (Refer to page 12-11-11 for the lateral load allowable value and each moment value Graph (3) x 9.8 x (m1 + m2) x H/ < Effective torque (N m) Find the moment of inertia, "IR" for the load + attachments (2 pcs.) IR = K x (a 2 + b 2 + 12h 2 ) x (m1 + m2)/(12 x ) (K = 2: Safety factor) x 9.8 x.7 = 13.72 13.72 N < Effective gripping force OK Downward vertical load by load and attachment: f = (.7 + 2 x.5) x 9.8 = 1.7 (N) < Vertical allowable value x 9.8 x (.7 +.5) x / =.24.24 N m < Effective torque OK IR = 2 x ( 2 + 3 2 + 12 x 2 ) x (.7 +.5)/(12 x ) =.5 kg m 2 OK 8 Kinetic energy Confirm that the kinetic energy of the load + attachments (2 pcs.) is no more than the allowable value. Refer to Moment of Inertia Calculation and Allowable Kinetic Energy on page 12-11-12. 1/2 x IR x ω 2 < Allowable energy (J) ω = 2θ/t (ω: Angular speed at the end) θ: Rotation angle (rad) t: Rotation time (s) 1/2 x.5 x (2 x (3.14/2)/.2) 2 =.2.2 J < Allowable energy OK 12-11-
Rotary Gripper Series MRHQ Gripping Point External gripping Gripping Point Range Limit Graph (1) External Gripping Internal Gripping H MRHQ Overhang H mm 5 3 Pressure.2MPa MRHQ Overhang H mm 5 3 Pressure.2MPa,.7MPa MHZ MHF MHL MHR Gripping point Internal gripping L 3 5 MRHQ1 Overhang H mm 5 3 Pressure.2MPa MRHQ1 Overhang H mm 5 3 3 5 Pressure.2MPa,.7MPa MHK MHS MHC MHT MHY MHW MRHQ 3 5 3 5 Misc. H Gripping point L L: Gripping point distance H: Overhang Operate so that the workpiece gripping point distance L and the amount of overhang H stay within the range shown for each operating pressure given in the graphs to the right. If operated with the workpiece gripping point outside of the range limit, an excessive eccentric load will be applied to the fingers and guide section, causing play in the fingers and adversely affecting the gripper's life. MRHQ Overhang H mm 8 MRHQ25 Pressure.2MPa.7MPa 8 MRHQ Overhang H mm 8 8 MRHQ25 Pressure.2MPa.7MPa D- - 1 Overhang H mm 8 Pressure.2MPa.7MPa Overhang H mm 8 Pressure.2MPa.7MPa 8 1 8 12-11-7
Series MRHQ Effective Gripping Force Expressing the effective gripping force Effective Gripping Force Graph (2) The effective gripping force shown in the graphs to the right is expressed as F, which is the impellent force of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure below. External Gripping/Double Acting MRHQD 15 5 Pressure.7MPa.2MPa Internal Gripping/Double Acting MRHQD 25 15 5 Pressure.7MPa.2MPa F F 3 5 3 5 External gripping L MRHQ1D 5 3 Pressure.7MPa.2MPa MRHQ1D 5 3 Pressure.7MPa.2MPa 3 5 3 5 Internal gripping L MRHQD 5 3.2MPa MRHQD Pressure.7MPa Pressure.7MPa 8.2MPa L: Gripping point distance Model Selection Guidelines by Workpiece Weight Although 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 weight, or more. A greater margin of safety is required when high acceleration or impact occurs during workpiece transfer. 8 MRHQ25D 8 Pressure.7MPa.2MPa 8 8 MRHQ25D 1 1 1 8 Pressure.7MPa.2MPa 8 12-11-8
Rotary Gripper Series MRHQ External Gripping Force/Single Acting MRHQS MRHQ1S MRHQS MRHQ25S 12 8 4 2 3 5 3 8 8 Pressure.7MPa 3 5 Pressure.7MPa Pressure.7MPa.35MPa 8 Pressure.7MPa.25MPa 3 5.25MPa.25MPa Internal Gripping Force/Single Acting MRHQC MRHQ1C MRHQC MRHQ25C 15 5 5 3 8 1 1 8 8 Pressure.7MPa. MPa.35MPa 3 5 Pressure.7MPa 3 5 Pressure.7MPa Pressure.7MPa.25MPa 8 1.25MPa.25MPa MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - 12-11-9
Series MRHQ Rotational Torque and Gripping Point Rotational Torque Graph (3) 1. 3.5 3. Rotational torque N m.8..4.2 MRHQ1 MRHQ Rotational torque N m 2.5 2. 1.5 1..5 MRHQ MRHQ25.2.3.4.5..7.2.3.4.5..7.8.9 1. Operating pressure MPa Operating pressure MPa How to Mount Attachment on Fingers When mounting attachments on fingers, support the fingers with a tool such as a spanner to prevent them from twisting. Refer to the table on the right for the tightening torques of finger mounting bolts. Model MRHQ MRHQ1 MRHQ MRHQ25 Bolt M2.5 x.45 M3 x.5 M4 x.7 M5 x.8 Max. tightening torque N m.31.59 1.4 2.8 12-11-
Rotary Gripper Series MRHQ Allowable Value of External Force on Fingers MHZ MHF L L MHL MHR Fv Model MRHQ MRHQ1 MRHQ MRHQ25 Mp Allowable vertical load Fv (N) 58 98 147 255 Pitch moment Mp (N m).2.8 1.32 1.94 Note) Values of load and moment in the above table are static values. My L Mr L: Distance to the point at which a load is applied (mm) Maximum allowable moment Yaw moment My (N m).2.8 1.32 1.94 Roll moment Mr (N m).53 1.3 2.5 3.88 MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Calculation for allowable external force (with moment load) Allowable load F (N) = M (Maximum allowable moment) (N m) L x -3 Unit conversion factor Calculation example When static load f = N, which produces pitch moment to the point L = 3 mm from MRHQ1D guide, is applied. Operable condition requires that F be bigger than f. Example:.8 Allowable load F = 3 x -3 = 22.7 (N) > Since load F > f, it is operable. 12-11-11
Series MRHQ Moment of Inertia and Allowable Kinetic Energy Moment of Inertia Calculation and Allowable Kinetic Energy Graph (Moment of inertia and rotation time) Calculate the moment of inertia as shown below, and confirm that the operating conditions are within the allowable kinetic energy shown in the graph Moment of inertia and rotation time on the right. a O h G When load dimensions > attachment dimentions b a O h G When load dimensions < attachment dimentions b Moment of Inertia IR kg m 2 x -5 5 5 1 P2 P1 MRHQ MRHQ1 MRHQ MRHQ25 Description O Center of rotation Gripper fingers.4.7.1.2.3 G Center of gravity of attachment and load Attachments Load Rotation time 9 /sec Moment of inertia I: kg m 2 (a 2 + b 2 + 12h 2 ) (m1 + m2) I = 12 x Practical moment of inertia IR: kg m 2 IR = K x I Use IR for this product. m1: Mass of two attachments (kg) m2: Mass of load (kg) h: Distance between O and G (mm) a, b: Dimensions of load or attachment (mm) K = 2 (Coefficient) How to Use the Graph [Example 1] Moment of Inertia: 1 x -5 kg m 2 Rotation time:.2 s/9 To select model MRHQ It can be used because the point of intersection P1 on the graph is within the limiting range. [Example 2] Moment of Inertia: 5 x -5 kg m 2 Rotation time:.1 s/9 To select model MRHQ1 It cannot be used because the point of intersection P2 on the graph is outside the range limit. (Review is necessary.) To confirm by calculation, use formula (1) on the right and check that the kinetic energy of load E is within the allowable values below. Allowable Kinetic Energy Model MRHQ MRHQ1 MRHQ MRHQ25 Allowable value J.4.14.34.74 Kinetic energy of load E: J E = 1/2 x IR x ω 2 (1) ω = 2θ/t (ω: Angular speed at the end) θ: Rotating angle (rad) t: Rotation time (s) 12-11-12
Rotary Gripper Series MRHQ Dimensions MRHQ A B 34 41 MHZ MHF ø54.5 MHL 4-M4 x.7 depth 24.5 ø37h9 -.2 MHR MHK 4-M2.5 x.45 (attachment mounting screw ) M5 x.8 Finger opening port 18 11 4.5 5.7 ø31 5 -.1 3 22.5 M5 x.8 Finger closing port 12 13.7 2.5 34 Max..1 3-R1.5 25 23 2 4-M4 x.7 depth (two on the other side) 11.5 2-4.5 through 2-8 depth of counter bore 2.5 11 41.5 2 3 Angle adjustment bolt 3-R1.5 5 +.25 3-3H9 depth 4 (one each on three sides) +.25 3-3H9 long groove depth 3 (one each on three sides) M5 x.8 Port A ø37h9 -.2 M5 x.8 Port B 4-M4 x.7 depth 9 5 18 2 15.5 5 21 +2.2 15.2 opened -.7 11.2 closed 4 -.1 MHS MHC MHT MHY MHW MRHQ 33 Misc. D- - JAPAN IN MADE ROTARY AIR GRIPPER SMC 34 23 Side A Side B 12-11-13
Series MRHQ Dimensions MRHQ1 A B 41 5 ø.5 4-M5 x.8 depth 8 3 ø47h9 -.2 4-M3 x.5 (attachment mounting screw ) ø41 8 -.1 M5 x.8 Finger closing port +2.2.9 opened -.2 14.9 closed -.7 5 -.1 +.3 3-4H9 depth (one each on three sides) 7 15 Max. 7.3 4-M5 x.8 depth 8 (two on opposite side) M5 x.8 Finger opening port 3-R2 29 31 15 Angle adjustment bolt 18 2-5.5 through 2-9.5 depth of counter bore 3 3-R2 M5 x.8 Port A M5 x.8 Port B +.3 3-4H9 long groove depth 4 (one each on three sides) 11 8 25 18.8 12 22 8 4 22.5 3 42 8 51.5 78 2 22 1 11 ø47h9 -.2 4-M5 x.8 depth 8 41 Side A 29 Side B 12-11-14
Rotary Gripper Series MRHQ MRHQ A B ø78 4-M x 1 depth 4-M4 x.7 (attachment mounting screw ) M5 x.8 Finger opening port 2 19 9 2-.5 through 2-11 depth of counter bore 2.8 38.5 ø54h9 -.74 -.5 9 12 5 24 48 59 M5 x.8 Finger closing port 4 24.5 3.4 2 51 1 2.3 opened +2.2 -.2 8 -.1 1.3 closed -.7 Max. 9.2 3-R2.5 39 Angle adjustment bolt 3-R2.5 ø51 3 8 4-M x 1 depth 9 (two on opposite side) +.3 3-5H9 depth (one each on three sides) 2.5 1.5 27 M5 x.8 Port A ø5h9 -.2 M5 x.8 Port B +.3 3-5H9 long groove depth 4 (one each on three sides) 4-M x 1 depth JAPAN IN MADE ROTARY AIR GRIPPER SMC 17.5 2 8 1 27 1.5 8.5 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - 48 Side A 3 Side B 12-11-15
Series MRHQ Dimensions MRHQ25 A B 58 7 ø93 4-M x 1 depth 4-M5 x.8 (attachment mounting screw ) 12 -. 47 øh9 -.74 M5 x.8 Finger closing port 33.3 opened +2.5 -.2 19.3 closed -.8 ø4 -.1 12 3.4 M5 x.8 Finger opening port 27.5 23 11 2-8.5 through 2-14 depth of counter bore 4 12 24 54 2 9 4 3 7 45 7 8 17 32 +.3 3-H9 depth 8 (one each on three sides) M5 x.8 Port A ø5h9 -.2 M5 x.8 Port B +.3 3-H9 long groove depth 4 (one each on three sides) 4-M x 1 depth 21.5 27.5 8 17.5 32 17 8 7 25 Max. 14 3-R3 Angle adjustment bolt 3-R3 42 4-M8 x 1.25 depth 12 (two on opposite side) JAPAN IN MADE ROTARY AIR GRIPPER SMC 48 Side A 42 Side B 12-11-1
Rotary Gripper Series MRHQ Construction MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - ROTARY AIR GRIPPER SMC JAPAN IN MADE Component Parts No. q w e r t y u i o!!1!2!3!4!5!!7!8 Description Material Note Gripper unit Rotary unit Two types for 9 and 18 Body C Aluminum alloy Gray-White Stopper lever Carbon steel Two types for 9 and 18 Stopper guide Stainless steel Retainer Carbon steel Switch guide Resin Switch holder A Resin Switch case Resin Switch holder B Resin Bearing High carbon bearing steel O-ring NBR Adjustment bolt Carbon steel Nut Carbon steel Hexagon socket head cap screw Carbon steel Parallel pin Stainless steel Hexagon socket head cap screw Stainless steel Hexagon socket head cap screw Stainless steel 12-11-17
Series MRHQ Auto Switch Specifications Applicable Series Series Application Auto switch model Electrical entry MRHQ MRHQ1 Gripper opening/ closing verification Solid state D-M9BV D-M9NV, M9PV Grommet/2-wire Grommet/3-wire MRHQ MRHQ25 Rotation verification Solid state D-M9B D-M9N, M9P Grommet/2-wire Grommet/3-wire Auto Switch Hysteresis Auto switches have hysteresis similar to micro switches. Use the table below as a guide when adjusting auto switch positions, etc. Hysteresis Switch operating position (ON) Switch return position (OFF) Model MRHQ MRHQ1 MRHQ MRHQ25 Hysteresis (mm).5.5 1. 1. 12-11-18
Rotary Gripper Series MRHQ Mounting of Auto Switch Mounting Switches to Verify Rotation Mounting Switches to Verify Opening/Closing of Gripper 1. First, remove the slotted set screw installed in a standard switch. 1. Position switch holder A in the groove of the switch guide in the direction indicated in Figure (2). Slotted set screw Solid state switch D-M9 2. Insert an auto switch into the switch guide and align the set screw with the hole of switch holder A. Auto switch MHZ MHF MHL 2. Insert the switch into the switch case, and install switch holder B into the first groove (MRHQ/25) or the second groove (MRHQ/1) and secure the switch. First groove MRHQ/25 Second groove MRHQ/1 Switch holder B Switch case Solid state switch D-M9 3. Install the switch case, with a switch attached securely in the hole, in the direction indicated in Figure (1). Figure (2) Switch guide Set screw Hole Switch holder A 3. Secure the switch at an appropriate position with a flat head watchmakers screwdriver as indicated in Figure (3). Tightening torque:.5 to.1 N m MHR MHK MHS MHC MHT MHY MHW MRHQ Misc. D- - Figure (3) Figure (1) 12-11-19
Series MRHQ Auto Switch Installation Example and Mounting Position Various auto switch applications will be available with combinations of using different numbers of auto switches and varieties of detecting positions. 1) Detection when Gripping Exterior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. 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 MHZ MHF Detection combinations Operation of auto switch One auto switch Two auto switches How to determine auto switch installation position Switch turned ON when fingers return. (Light ON) Switch turned ON when gripping a workpiece. (Light ON) Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers. When a workpiece is held (Normal operation): Switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Switch to turn ON (Light illuminating) MHL MHR MHK MHS MHC MHT MHY At no pressure or low pressure, connect the switch to a power supply, and follow the directions. Step 2) Refer to Mounting Switches to Verify Opening/Closing of Gripper on page 12-11-19 and position an auto switch in switch mounting groove. MHW MRHQ Misc. 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 light illuminates and fasten it at a position.3 to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. D- - Step 4) Slide the auto switch further in the direction of the arrow until the indicator light goes out. Position where light turns ON Position to be secured Step 5) Move the auto switch in the opposite direction and fasten it at a position.3 to.5 mm beyond the position where the indicator light illuminates. Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note 2) 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. 12-12-15
Series MRHQ Auto Switch Installation Example and Mounting Position Various auto switch applications will be available with combinations of using different numbers of auto switches and varieties of detecting positions. 2) Detection when Gripping Interior of Workpiece Detection example 1. Confirmation of fingers in reset position 2. Confirmation of workpiece held 3. Confirmation of workpiece released Position of fingers fully closed Position when gripping workpiece Position of fingers fully opened Position to be detected Operation of auto switch Switch turned ON when fingers return. (Light ON) Switch turned ON when gripping a workpiece. (Light ON) When a workpiece is held (Normal operation): Switch to turn OFF (Light not illuminating) When a workpiece is not held (Abnormal operation): Switch to turn ON (Light illuminating) Detection combinations One auto switch Two auto switches How to determine auto switch installation position Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers. At no pressure or low pressure, connect the switch to a power supply, and follow the directions. Step 2) Refer to Mounting Switches to Verify Opening/Closing of Gripper on page 12-11-19 and position auto switch in switch mounting groove. Step 3) Move the auto switch in the direction of the arrow and fasten it at a position.3 to.5 mm 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. Position to be secured Step 5) Move the auto switch in the opposite direction, and fasten it at a position.3 to.5 mm in the direction of the arrow beyond the position where the indicator light illuminates. Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke. Note 2) 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. 12-12-1