GRIPPERS AIR OR HYDRAULIC ANGULAR OR PARALLEL MOTION A Wide Range of Sizes, Jaw Styles, Jaw Travels, and Grippg Forces for Most Any Grippg Requirement INDEX: Parallel Jaw Motion Pages -1 to -19 18 Angular Jaw Motion Series GRB Pages 6B-1 to 6B-1 Angular Jaw Motion Pages 6C-1 to 6C- SERIES GRR NEW! SERIES GRL SERIES GRS WITH SPRING ASSIST SERIES GRC SERIES GRW SERIES GRT SERIES ANGULAR & PARALLEL 6-INDEX SERIES 84 ANGULAR NEW! SERIES 19/191 PARALLEL SERIES 86 JAW SERIES GRD SERIES GRB www.phdc.com/products/grippers 6-i
STANDARD PARALLEL GRIPPER SELECTION GUIDE 19/191 - to -1 SERIES SIZE 6 7 8 9 6 7 8 9 GRIP FORCE* lb [N] NOMINAL TOTAL JAW TRAVEL ches [] SHORT JAW TRAVEL: STYLE 1 &. [4].17 [4] 1.6 [47].76 [7] 1.8 [97].94 [1] 4.6 [19].1 [1] LONG JAW TRAVEL: STYLE. [14] 8.1 [6] 1.1 [8]. [1].1 [8].4 [11].6 [16].866 [] UNIT WEIGHT lb [kg].11 [.]. [.11].67 [.] 1.46 [.66].1 [.6].7 [.1].71 [.] 1.6 [.7] FEATURES small size pneumatic service two jaw travels two jaw styles sprg assist switches GRD -16 to -9 4 6 6 SHORT JAW TRAVEL: [147] 4 [178] 87 [87] 16 [64].187 [4.7]. [8.].1 [8.].4 [1.7] LONG TRAVEL: 4 [4] 91 [46]. [1.7].699 [17.7]. [.11].7 [.17].66 [.] 1.41 [.64].7 [.] 1.6 [.71] small size pneumatic service high grip force two jaw travels sprg assist switches low cost - to - 6 7 8 9 18 [7] 61 [1164] 488 [17] 98 [46].6 [1.8] 1. [.4] 1.1 [.] 1.8 [4.8].1 [1.41] 7. [.18] 14. [6.] 7. [16.8] heavy duty construction pneumatic service high grip force sprg assist switches 6-INDEX GRC -6 to -1 GRT - to -6 GRS -66 to -79 NEW! 4 6 1 4 6 7 8 7 x 4. 7 x 7 8 x 6 8 x 1 x 8 x 1 x 19 x 8 6 x 6 x 44 96 [47] 9 [9] 8 [174] 87 [87] 44 [196] 11 [499] 168 [747] 18 [971] 78 [168] 69 [1] 88 [91] 14 [649] 68 [] 48 [1] 77 [41] 48 [1] 19 [484] 7 [1] [14] 17 [697] 98 [177] 89 [187] 1. [.] 1. [9]. [1].7 [78].6 [6].1 [8].47 [1].6 [16].787 [] 1.4 [6] 1.6 [] 1.7 [4].177 [4.].76 [7]. [6].94 [1].1 [8].1 [1].7 [19] 1.1 [8] 1.6 [] 1.7 [44] 1.68 [.76].98 [1.81] 7. [.].47 [9.8].7 [.1].9 [.7].9 [.4] 1.7 [.8].8 [1.8].1 [.] 8.7 [.98] 1. [7.].9 [.1].9 [.1].4 [.4].4 [.4] 1 [.4] 1 [.4].4 [1.1].4 [1.1] 7.8 [.] 7.8 [.] long travel pneumatic service high grip force lockg feature sprg assist switches very low profile pneumatic service eight sizes high grip force switches low profile high grip force pneumatic service switches five sizes sprg assist GRL -8 to -89 14x7 14x1 16x 16x6 8 [14] [1] 41 [18] 41 [18].8 [7].1 [1].79 [] 1. [6].18 [.8].4 [.11].9 [.18].47 [.1] long travel pneumatic service slim profile switches GRW -9 to -99 16 4 6 [16] 9 [4] 17 [76] 7 [91] 49 [198].79 [].9 [].6 [6].8 [91] 4.61 [117].69 [.]. [1.1]. [.4] 11. [.1].1 [1.] long travel superior jaw stability high performance dependable simple to use GRR -1 to -11 46 [46] 7.87 [] 6.6 [16.6] long travel high capacity narrow width rugged design low jaw deflection * Above grippg force shown is at zero toolg length and 87 psi [6 bar] (pneumatic) or 7 psi [ bar] (hydraulic). The values shown are mimum produced. Optional sprg assist can crease the grippg force shown above or can be a safety device on the followg types: Series 19/191, GRD,, GRC, and GRT. The sprg option can also be used to allow sgle actg operation of Series GRC, GRD,, most 19/191, and GRT Grippers. Represents the change jaw movement as a diameter change. 6-ii www.phdc.com/products/grippers
STANDARD ANGULAR GRIPPER SELECTION GUIDE SERIES SIZE GRIP FORCE* lb [N] MINIMUM DISTANCE* ches [] UNIT WEIGHT lb [kg] FEATURES 84 [19] Openg per Jaw 14 m 6C- to 6C-1 1 11.7 19.7 81 [] [88] [44] [9]...4.6 [.1] [7.6] [1] [16].6 [.].14 [.8].9 [.] 1.6 [.48] small size pneumatic service sprg assist switches low cost 86 Jaw Openg per Jaw 1 6C-14 to 6C-19 8 [8] 4 17 [6] 8 [168] 7 [47].64.81.97 1. [16] [1] [] [] 1.4 [.6].74 [1.4]. [.8] 9.9 [4.49] lightweight pneumatic service self-centerg switches Openg per Jaw 1 6C- to 6C-6 1 [894] GRB Openg per Jaw 9 6B-1 to 6B-1 NEW! 499 [] 1 [49] 167 [969] 1 [7] 8 [14] 79 [] 179 [797] 6 [118] 49 [44] *Above grippg force is at the correspondg mimum distance (from the jaw pivot) at 87 psi [6 bar] (pneumatic) and 7 psi [ bar] (hydraulic). Optional sprg assist can crease the grippg force or be a safety device on the Series and 19. 4 1 16 4.81.97 1. 1.68.44.6.67.9 1.1 1.9 [1] [] [] [4] [11.] [14.] [17.] [.4] [.8] [48.].4 [1.8] 4.87 [.] 9.8 [4.] 7.7[1.7].8..98. 4. 11. [.1] [.] [.4] [.98] [.] [.] heavy duty construction pneumatic service high grip force sprg assist switches robust cam design pneumatic service three jaw rotations available compatible with PHD solid state, reed & proximity switches SEE THE PHD CLASSICS CATALOG FOR THE FOLLOWING PHD GRIPPERS: PARALLEL Series 79 Series 86 6-INDEX ANGULAR Series 79 & Jaw Series 86 Jaw CUSTOM PRODUCTS CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD FIT T O N EED 6-iii www.phdc.com/products/grippers
GRIPPER SIZING GUIDELINES Proper gripper sizg and selection is dependent on a number of parameters. The table below lists the primary parameters along with the reason they are important. This guide provides the basic steps to selectg the right gripper for your application. 6-INDEX PARAMETER IMPORTANCE Planned operatg pressure at the gripper Affects whether the part can be Weight and geometry or shape of part gripped and manipulated Weight and geometry of toolg Toolg length Parallel gripper: Distance from the center of the grippg pot to the face of the gripper Angular gripper: Distance from the center of the grippg pot to the jaw pivot pot Type of grip on part (external or ternal, encapsulated or friction) Total gripper jaw travel or jaw rotation required Desired gripper cycle time Accelerations and decelerations due to part manipulation Is sprg assist desired/required Metric or imperial customer terface Affects unit type and option selection Sensg requirements Environment Once the above parameters are known, the next step is to determe the appropriate style and size of the gripper. Followg are two methods that can be used to select the style and size of the gripper. Method 1: Usg PHD s Sizg Software 1. Refer to the Gripper Selection Guide on pages 6-ii and 6-iii to determe which grippers meet the style and jaw travel requirements for your application.. Input the application parameters (pressure, part weight and toolg length, etc.) to the software.. With your application s jaw travel requirements md, select a gripper from the list of valid devices shown the software. 4. Usg the formation the Engeerg Data section of the catalog, confirm the selected gripper can withstand the applied jaw moments and axial force for your application. When calculatg applied moments, clude the grip force, part weight, acceleration, and external forces.. With the jaw travel, grip force and moment capacity confirmed, double check that the gripper s operatg pressure range is acceptable, the gripper meets the cycle time requirements and if needed, the desired switch package and accessories are specified. Method : Usg Hand Calculations 1. Refer to the Gripper Selection Guide on pages 6-ii and 6-iii to determe which grippers meet the style and jaw travel requirements for your application.. Use Equation 1 below to approximate the required grip force factor (GF).. Keepg md the style and jaw travel requirements of your application, select a gripper usg the table on the followg page with a grip force factor (GF) equal to or greater than the mimum GF value calculated. 4. Refer to the Engeerg Data section of the catalog for the selected gripper and calculate the Total Grip Force (cludg toolg length effects). Remember to clude sprg assist grip force if desired. Verify that the Total Grip Force is adequate to mata your desired Safety Factor of grip force to part weight.. Usg the formation the Engeerg Data section of the catalog, confirm the selected gripper can withstand the applied jaw moments and axial force for your application. When calculatg applied moments, clude the grip force, part weight, acceleration, and external forces. 6. With the jaw travel, grip force and moment capacity confirmed, double check that the gripper meets the cycle time requirements and that, if needed, the desired switch package and accessories are specified. EQUATION 1: Parallel Grippers Angular Grippers Imperial GF = (M x FS)/P GF = (M x K x FS)/P Metric GF = (9.81 x M x FS)/P GF = (9.81 x M x K x FS)/P P = Workg pressure, psi [bar] M = Part mass, lb [kg] K = Distance from jaw pivot to grippg pot, [] (Note: Sce the actual value of K is gripper dependent, enter a best estimate) FS = Safety Factor PHD recoends that jaw toolg encapsulate the part. With part encapsulation, a mimum :1 safety factor of Total Grip Force to part weight should be used. For unencapsulated part applications, a mimum 4:1 safety factor is typical. 6-iv www.phdc.com/products/grippers
GRIP FORCE FACTOR IMPERIAL 19x6 19x7 19x8 19x9 19x61 19x71 19x81 19x91 19x6 19x7 19x8 19x9 16 17 18 19 GRCx1 & GRCx & 4 GRCx41 & GRCx4 & 4 GRCx1 & GRCx & 4 GRCx61 & GRCx6 & 4 GRS--1-7x4. GRS--1-7x7 GRS--1-8x6 GRS--1-8x1 GRS--1-x8 GRS--1-x1 GRS--1-x19 GRS--1-x8 GRS--1-6x GRS--1-6x44 GRT11 GRT1 GRT1 GRT14 GRT1 GRT16 GRT17 GRT18 GRLx-1-14x7 GRLx-1-14x1 GRLx-1-16x GRLx-1-16x6 GRWx-1-16 GRWx-1- GRWx-1- GRWx-1-4 GRWx-1- GRR1-1- GRIPPER NO. GRDx1 GRDx41 GRDx1 GRDx GRDx61 GRDx6 METRIC 19x6 19x7 19x8 19x9 19x66 19x76 19x86 19x96 19x67 19x77 19x87 19x97 16 17 18 19 GRCx1 & GRCx & 4 GRCx41 & GRCx4 & 4 GRCx1 & GRCx & 4 GRCx61 & GRCx6 & 4 GRS---7x4. GRS---7x7 GRS---8x6 GRS---8x1 GRS---x8 GRS---x1 GRS---x19 GRS---x8 GRS---6x GRS---6x44 GRT1 GRT GRT GRT4 GRT GRT6 GRT7 GRT8 GRLx--14x7 GRLx--14x1 GRLx--16x GRLx--16x6 GRWx--16 GRWx-- GRWx-- GRWx--4 GRWx-- GRR1-- PARALLEL GF EXTERNAL GRIP IMPERIAL METRIC IMPERIAL.49.9.1.7.61.1..49.7.9.1.7.8.46 1..6 1.6 1. 1.47..61 11.6 1.1.9.4. 4.4.6 1. 7..78..88. 1..8.7 1.8 4.6.. 1.9 1.9.1 4. 6.4 1.11 16.69..4.47.47.41 1. 1.96.8 4.9.8 6 14 4 4 8 16 6 1 17 6 4 1 68 9 194 6 76 71 61 1 1 84 6 647 4 6 7 6 81 174 116 97 1 8 1 16 81 4 6 177 1 6 66 16 14 18 4.61.1..49.61.1..49.7.9.1.7.8.46 1..6 1.6 1. 1.6.7.9 11.7 1.1.9.4. 4.4.6 1. 7..8.9.9.9 1..86.8 1.9 4.7..7 1.4.1.68 4.61 6.99 1.67 17...4.47.47.49 1.1.17.61.49 4.94 GRIP FORCE FACTOR TABLE GF INTERNAL GRIP METRIC 4 8 16 4 8 16 6 1 17 6 4 1 68 19 11 81 78 71 61 1 1 84 6 647 4 4 8 6 8 86 6 181 1 6 7 9 16 17 97 41 688 111 1 1 78 14 168 4 19 ANGULAR GF GF GRIPPER NO. EXTERNAL GRIP INTERNAL GRIP IMPERIAL METRIC IMPERIAL METRIC IMPERIAL METRIC 84 841 84 84 861 861 8641 861 864 864 8644 864 19 191 19 19 86 86 864 86 86 86 864 86.7.68..76.4 1.49 4. 14.8.4 1.18.18 1.7 4 11 4 94 7 44 76 48 7 1946 1 16..9.6.774.7 1.74.4 16.9.9 1.4.69 11.4 1 164 941 84 84 7669 941 46 661 1881 1, 11 1, 1 1, 11 1, 1 14, 141 14, 14 1, 11 1, 1 1.87.6 14.14 41.8 8 98 19 68. 6.8 14.8 4.7 998 4 718 GRB11--1 GRB11--16 GRB11-- GRB11-- GRB11--4 GRB11-- GRB11-6-1 GRB11-6-16 GRB11-6- GRB11-6- GRB11-6-4 GRB11-6-.6.18.61 1.9.7 1 16 99 994 17 689 19964.8.1.7.4 4. 14 16 46 11 91 749 864 6-INDEX 6-v www.phdc.com/products/grippers
PARALLEL GRIPPERS SERIES 19 & 191, GRD,, GRC, GRT, GRS GRL, GRR, & GRW INDEX: Series 19 & 191 Pages - to -1 Series GRD Pages -16 to -9 SERIES GRW NEW! SERIES GRS WITH SPRING ASSIST Series Pages - to -4 Series GRC Pages -6 to -1 Series GRT Pages - to -64 Series GRS Pages -66 to -79 Series GRL Pages -8 to -88 Series GRW Pages -9 to -99 Series GRR Pages -1 to -19 SERIES GRR SERIES GRL SERIES GRD SERIES GRT SERIES GRC SERIES 19 & 191 SERIES -1 www.phdc.com/products/grippers
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES 19 & 191 PARALLEL GRIPPERS TO ORDER SPECIFY: Model, Design No., Sensor or Switch Ready Options, Maximum Force, Sprg Options, and Seals. DESIGN NO. MAXIMUM FORCE REVERSED JAW MOVEMENT - Maximum Force on Open - Maximum Force on Close (Available on Jaw Style only) SPRING OPTIONS - None - Sprg Assist Close (Available with -xx Option combation only) 4 - Sprg Assist Open (Available with -x4x Option combation only.) (Not available on 19x6x size.) JAW STYLE 1 JAW STYLE 19171 - - 1 19 MODELS FULL MOUNTING IMPERIAL METRIC JAW STYLE 1 196 197 198 199 JAW STYLE SHORT TRAVEL 1961 1971 1981 1991 LONG TRAVEL 196 197 198 199 JAW STYLE 1 196 197 198 199 JAW STYLE SHORT TRAVEL 1966 1976 1986 1996 LONG TRAVEL 1967 1977 1987 1997 IMPERIAL JAW STYLE 1 1916 1917 1918 1919 JAW STYLE SHORT TRAVEL 19161 19171 19181 19191 LONG TRAVEL 1916 1917 1918 1919 NOTES: 1) Sensor must be used with a PHD Set Pot Module. ) Switches and all kits must be ordered separately. 191 MODELS BOTTOM MOUNTING METRIC JAW STYLE 1 1916 1917 1918 1919 JAW STYLE SHORT TRAVEL 19166 19176 19186 19196 LONG TRAVEL 19167 19177 19187 19197 SENSOR OR SWITCH OPTIONS - Pla 4 - Hall Effect Sensor/Set Pot Module Ready (See note 1.)(Not available with Sprg Option) - Proximity Switch Ready (6 square or Hall Effect proximity switches) See page -14 for details. TRAVEL ADJUSTMENT KITS GRIPPER MODEL 19x6x 19x7x 19x8x 19x9x PART NUMBER 184 1844 184 1846 Available on Jaw Style Models only. CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. SEALS 1 - Buna-N - Fluoro-Elastomer HALL EFFECT SENSOR KITS GRIPPER MODEL 19x6x 19x7x 19x8x 19x9x PART NUMBER IMPERIAL METRIC 18674-4 187-4 1867-4 188-4 18676-4 189-4 18677-4 186-4 Sensors must be ordered separately. See Switches and Sensors section. SWITCH BRACKETS & TARGET KITS FOR USE WITH: PHD SERIES 8 SWITCHES GRIPPER MODEL 19x6x 19x7x 19x8x 19x9x IMPERIAL 9794-1 979-1 77 77 PART NUMBER METRIC 77 771 77 77 Switches must be ordered separately. See Switches and Sensors section. SWITCH BRACKETS & TARGETS FOR INDUCTIVE PROXIMITY SWITCHES GRIPPER MODEL 19x6x 19x7x 19x8x 19x9x IMPERIAL 979-1 979-1 1848 1849 PART NUMBER METRIC 184 1847 1848 1849 Switches must be ordered separately. See Switches and Sensors section. EED N T O FIT - www.phdc.com/19191
BENEFITS: SERIES 19 & 191 PARALLEL GRIPPERS JAW STYLE 1 JAW STYLE BENEFITS Compact size is ideal for handlg small parts confed areas. Units provide true parallel jaw travel for easy toolg design. Double-actg for either ternal or external grippg applications. Units are specified for maximum grip force for ternal or external grippg for optimum unit performance. Optional Sprg Assist can be specified to obta the maximum amount of grippg force. Except on 19x6x size. Rugged jaw and body construction can withstand high impact and shock loads. Available four sizes, two jaw styles, two jaw travels, and mountg holes on one face, or three faces for maximum application versatility. Internal jaw mechanism constructed of hardened steel components for a matenance-free service life. Close tolerance components elimate jaw play. Jaws have dowel holes or male keys for precise toolg location. The Series 191 Gripper body has one mountg face, at the opposite end to the jaws. The Series 19 body has three mountg faces, allowg mountg a variety of attitudes. Series 19 and 191 Grippers are fully field repairable. Proximity Switches or Hall Effect Sensors are available for dication of jaw position and terfacg to a system controller. Available with Jaw Travel Adjustment for fe-tung the jaw travel confed workg areas. SPECIFICATIONS SERIES 19 &191 WORKING PRESSURE psi M. - 1 psi Max. [ bar M. - 1 bar Max.] BODY Hardcoated Alumum JAWS Hardened Steel ROD BEARING Delr AF SEALS Quad Type LUBRICATION Permanent for Non-Lube Air PORTS Parallel Thread OPTIONS Proximity Switches, Hall Sensor, Jaw Stroke Adjustment, Sprg Assist www.phdc.com/19191 -
DIMENSIONS: SERIES 19 PARALLEL GRIPPERS - JAW STYLE 1 FULL MOUNTING LETTER DIM. NOMINAL JAW TRAVEL A CLOSED** A OPEN** B C D F G H K L M O* P* Q R S T W Y Z AA BB CC DD EE MODEL NUMBER 196 196 197 197 198 198 199 199.17.1.4.787.98.177.1 #4 1.1 1.6.98 1.1.1. 4-4 x.19 DP.61 1.1.1 /.196 #4.871 1-.167.46 1/16 4 7.7 1.. 1. 4. 8. M.. 9.. 6.1 14. 14. M x. x 4. DP 1.. 8... M. M x.. 1...76.4.4 1.4..1.7 # 1.89 1.97.18 1.49.687.71 6- x. DP.681 1.64.67 1/8.76 #6 1.4 1-.176. 1/16 7 8.7 1.7 6. 14.. 1. M. 48.. 1. 18. 18. M x. x 4. DP 18. 4. 9.. 7. M 6. M x.. 14...94.81.91 1.496.791.6. #8 1.6..196 1.64.84 1.1 8- x.8 DP.78.6.8 1/8.9 #8 1.41 1-.19.9 1/16 1 14.7. 8.. 6. 1. M4 41. 6.. 41.. 8. M4 x.7 x 6. DP.. 9. 4. 1. M4 6. M x.8. 1...1.7 1.1 1.968 1.7.94.6 #1.81.4.6.18 1.94 1. 1-4 x.8 DP.87.6. /16.11 #1 1.84 1-.1.7 1/16 1 17.7 9.. 6. 1. 16. M. 8. 6.. 8. 9. M x.8 x 7. DP. 67. 8.. 1. M 47. M x.8 4. 19.. R K S H P* SQ P* 6X CLEARANCE HOLE FOR W DOWEL PIN IN BODY 8X Q THREAD IN BODY X THRU DIA AND C'BORE FOR Z SHCS SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL NOTES: 1) *TOLERANCE BETWEEN DOWEL PIN HOLES IS ±.8 [±.] ) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN ) CIRCLED NUMBERS INDICATE POSITIONS. **A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. D A 6 CC DD BB PORT FITTING FOR EE ID TUBE IS SUPPLIED WITH UNIT F F/ L 1 P C Y 4 B SQ T O* M AA X CLEARANCE HOLE FOR G SCREW EACH JAW CLEARANCE HOLE FOR W DOWEL PIN EACH JAW -4 www.phdc.com/19191 All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SERIES 19 PARALLEL GRIPPERS - JAW STYLE FULL MOUNTING LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED* A OPEN* AL CLOSED* AL OPEN* B C D F G H K L M O** P** Q R S T W Y Z AA BB CC DD EE 1961/6.17.1 1.4 1.11 1.447 1.7.787.98.97.188-6 x.18 DP 1.1.19.98..1. 4-4 x.19 DP.61.84.1 /.197 ±.6 #4.1 1-.167.46 1/16 1966/67 4 8 6.7 9. 6.7 4.. 1. 1.. M. x.4 x. DP. 4.. 14. 14. 14. M x. x 4. DP 1. 1. 8... ±.1 M. M x.. 1.. 1971/7.76.4 1.9 1.4 1.8.17 1.4..491. 6- x.8 DP 1.89.4.18.696.687.71 6- x. DP.681 1.71.67 1/8.76 ±.6 #6.11 1-.176. 1/16 MODEL NUMBER 1976/77 7 11.7 9. 4.7. 6. 14. 1. 6. M x. x 6. DP... 17. 18. 18. M x. x 4. DP 18. 6. 9.. 7. ±.1 M. M x.. 14.. 1981/8.94.6 1.841.17..9 1.496.791.748.7 8- x. DP 1.6.1.197.96.84 1.1 8- x.8 DP.78 1.98.8 1/8.94 ±.7 # 8.186 1-.19.9 1/16 NOTES: 1) *A CLOSED & OPEN ARE FOR MODELS 1961, 71, 81, 91, 66, 76, 86, & 96 AL CLOSED & OPEN ARE FOR MODELS 196, 7, 8, 9, 67, 77, 87, & 97 ) **TOLERANCE BETWEEN DOWEL PIN HOLES IS ±.8 [±.] ) CIRCLED NUMBERS INDICATE POSITIONS. A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. 1986/87 1 16 46.7. 9.7 74. 8.. 19. 1. M4 x.7 x 8. DP 41... 4.. 8. M4 x.7 x 6. DP.. 9. 4. 1. ±.18 M4 4. M x.8. 1.. 1991/9.1.866..8.86.671 1.968 1.7.984.6 1-4 x.8 DP.81.4.6 1.8 1.94 1. 1-4 x.8 DP.87 1.78. /16.118 ±.8 # 1.18 1-.1.7 1/16 1996/97 1 9.7 71. 7.7 9.. 6.. 1. M x.8 x 1. DP. 6. 6. 1. 8. 9. M x.8 x 7. DP. 4. 8.. 1. ±. M 6. M x.8 4. 19.. R H S.79 [.] KEY DEPTH D REF 6X CLEARANCE HOLE FOR W DOWEL PIN IN BODY P** SQ 8X Q THREAD IN BODY X THRU DIA AND C'BORE FOR Z SHCS P SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL A.8 [.] AL PLUG HEIGHT 6 L M D ±. [±.7] F AA Y CC P C DD BB PORT FITTING FOR EE ID TUBE IS SUPPLIED WITH UNIT B SQ C 4 1 JAW KEY DETAIL X G THREAD EACH JAW T O** K M REF SEE JAW TRAVEL ADJUSTMENT KIT PAGE FOR DETAIL All dimensions are reference only unless specifically toleranced. www.phdc.com/19191 -
DIMENSIONS: SERIES 191 PARALLEL GRIPPERS - JAW STYLE 1 BOTTOM MOUNTING ONLY MODEL NUMBER LETTER DIM. NOMINAL JAW TRAVEL A CLOSED** A OPEN** B C D F G H K L M P* Q R S T W Y Z EE 1916 1916 1917 1917 1918 1918 1919 1919.17.1.4.787.98.177.1 #4 1.61.164.98 1.91. 4-4 x.19 DP /.871.167.46.196 1-1/16 4 7.7 1.. 1. 4. 8. M. 41... 48. 14. M x. x 4. DP... 1.. M x...76.4.4 1.4..1.7 # 1.97.618.18..71 6- x. DP 1/8 1.4.176..76 1-1/16 7 8.7 1.7 6. 14.. 1. M. 66.. 8. 18. M x. x 4. DP. 6.. 14. 7. M x...94.81.91 1.496.791.6. #8.4.8.196.847 1.1 8- x.8 DP 1/8 1.41.19.9.9 1-1/16 NOTES: 1) *TOLERANCE BETWEEN DOWEL PIN HOLES IS ±.8 [±.] ) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN ) CIRCLED NUMBERS INDICATE POSITIONS. 1 14.7. 8.. 6. 1. M4 61. 8.. 7. 8. M4 x.7 x 6. DP 4. 6.. 1. 1. M x.8..1.7 1.1 1.968 1.7.94.6 #1.91 4.11.6. 1. 1-4 x.8 DP /16 1.84.1.7.11 1-1/16 1 17.7 9.. 6. 1. 16. M 7. 14. 6. 89. 9. M x.8 x 7. DP. 47. 4. 19. 1. M x.8. K H P* SQ X CLEARANCE HOLE FOR R DOWEL PIN IN BODY 4X Q THREAD IN BODY SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL **A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. D A 6 T W Z PORT FITTING FOR EE ID TUBE IS SUPPLIED WITH UNIT 1 F F/ L C Y 4 B SQ S X CLEARANCE HOLE FOR G SCREW EACH JAW M CLEARANCE HOLE FOR R DOWEL PIN EACH JAW -6 www.phdc.com/19191 All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SERIES 191 PARALLEL GRIPPERS - JAW STYLE BOTTOM MOUNTING ONLY LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED* A OPEN* AL CLOSED* AL OPEN* B C D F G H K L M P** Q R T W Y Z EE 19161/6.17.1 1.4 1.11 1.447 1.7.787.98.97.188-6 x.18 DP 1.61.1.98 1.4. 4-4 x.19 DP /.167.46.197 ±.6 1-1/16 19166/67 4 8 6.7 9. 6.7 4.. 1. 1.. M. x.4 x. DP 41... 6. 14. M x. x 4. DP.. 1.. ±.1 M x.. 19171/7.76.4 1.9 1.4 1.8.17 1.4..491. 6- x.8 DP 1.97.11.18 1.7.71 6- x. DP 1/8.176..76 ±.6 1-1/16 MODEL NUMBER 19176/77 7 11.7 9. 4.7. 6. 14. 1. 6. M x. x 6. DP... 44. 18. M x. x 4. DP.. 14. 7. ±.1 M x.. 19181/8.94.6 1.841.17..9 1.496.791.748.7 8- x. DP.4.186.197.18 1.1 8- x.8 DP 1/8.19.9.94 ±.7 1-1/16 1 16 46.7. 9.7 74. 8.. 19. 1. M4 x.7 x 8. DP 61. 4... 8. M4 x.7 x 6. DP 4.. 1. 1. ±.18 M x.8. NOTES: 1) *A CLOSED AND OPEN ARE FOR MODELS 19161, 71, 81, 91, 66, 76, 86, & 96 AL CLOSED & OPEN ARE FOR MODELS 1916, 7, 8, 9, 67, 77, 87, & 97 ) **TOLERANCE BETWEEN DOWEL PIN HOLES IS ±.8 [±.] ) CIRCLED NUMBERS INDICATE POSITIONS. A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. 19186/87 19191/9.1.866..8.86.671 1.968 1.7.984.6 1-4 x.8 DP.91.18.6.6 1. 1-4 x.8 DP /16.1.7.118 1-1/16 19196/97 1 9.7 71. 7.7 9.. 6.. 1. M x.8 x 1. DP 7. 6. 6. 67. 9. M x.8 x 7. DP. 4. 19. 1. M x.8. X CLEARANCE HOLE FOR R DOWEL PIN IN BODY H M D REF.79 [.] KEY DEPTH 4X Q THREAD IN BODY P** SQ SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL A.8 [.] PLUG AL* HEIGHT 6 L M D ±. [±.7] F K Y T C W Z PORT FITTING FOR EE ID TUBE IS SUPPLIED WITH UNIT B C SQ. 4 1 JAW KEY DETAIL X G THREAD EACH JAW SEE JAW TRAVEL ADJUSTMENT KIT PAGE FOR DETAIL All dimensions are reference only unless specifically toleranced. www.phdc.com/19191-7
GRIP FORCE DIAGRAMS: MODELS 196x & 1916x Grippg forces are the arithmetic sum of all forces occurrg at gripper jaws. Grippg force relation to toolg length at 87 psi [6 bar] actuatg pressure. TOOLING LENGTH SHORT TRAVEL LONG TRAVEL LEGEND Max. Grip Force Direction M. Grip Force Direction DOUBLE ACTING 6 [6.7] 19x61--xx and 19x6--xx 19x66--xx and 19x67--xx 6 [6.7] 19x61--xx and 19x6--xx 19x66--xx and 19x67--xx TOTAL GRIP FORCE lbs [N] [.] 4 [17.8] [1.7] [8.9] 61 & 66 CLOSE 61 & 66 OPEN 6 & 67 CLOSE 6 & 67 OPEN OPEN CLOSE TOTAL GRIP FORCE lbs [N] [.] 4 [17.8] [1.7] [8.9] 61 & 66 OPEN 61 & 66 CLOSE 6 & 67 OPEN 6 & 67 CLOSE CLOSE OPEN 1 [4.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] 1 [4.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] 19x6--xx 19x6--xx 6 [6.7] TOTAL GRIP FORCE lbs [N] [.] 4 [17.8] [1.7] [8.9] 6 & 6 OPEN 6 & 6 CLOSE CLOSE OPEN 1 [4.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] -8 www.phdc.com/19191
GRIP FORCE DIAGRAMS: MODELS 197x & 1917x Grippg forces are the arithmetic sum of all forces occurrg at gripper jaws. Grippg force relation to toolg length at 87 psi [6 bar] actuatg pressure. TOOLING LENGTH SHORT TRAVEL LONG TRAVEL LEGEND Max. Grip Force Direction M. Grip Force Direction Sprg Assist this Direction DOUBLE ACTING 19x71--xx and 19x7--xx 19x76--xx and 19x77--xx 14 [6.] DOUBLE ACTING SPRING ASSIST 19x71--xx and 19x7--xx 19x76--xx and 19x77--xx TOTAL GRIP FORCE lbs [N] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] 71 & 76 CLOSE 7 & 77 CLOSE 71 & 76 OPEN 7 & 77 OPEN CLOSE [8.9] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] OPEN TOTAL GRIP FORCE lbs [N] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] [8.9] 71 & 76 CLOSE 7 & 77 CLOSE 71 & 76 OPEN 7 & 77 OPEN TOOLING LENGTH ches [] OPEN CLOSE 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] [8.9] 19x71--xx and 19x7--xx 19x76--xx and 19x77--xx 71 & 76 OPEN 7 & 77 OPEN 71 & 76 CLOSE 7 & 77 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 14 [6.] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] [8.9] 19x71--x4x and 19x7--x4x 19x76--x4x and 19x77--x4x 71 & 76 OPEN 7 & 77 OPEN 71 & 76 CLOSE 7 & 77 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] 19x7--xx 19x7--xx 19x7--x4x 19x7--x4x TOTAL GRIP FORCE lbs [N] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] [8.9] 7 &7 OPEN 7 & 7 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 14 [6.] 1 [.4] 1 [44.] 8 [.8] 6 [6.7] 4 [17.8] [8.9] 7 & 7 OPEN 7 & 7 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] www.phdc.com/19191-9
GRIP FORCE DIAGRAMS: MODELS 198x & 1918x Grippg forces are the arithmetic sum of all forces occurrg at gripper jaws. Grippg force relation to toolg length at 87 psi [6 bar] actuatg pressure. TOOLING LENGTH SHORT TRAVEL LONG TRAVEL LEGEND Max. Grip Force Direction M. Grip Force Direction Sprg Assist this Direction DOUBLE ACTING DOUBLE ACTING SPRING ASSIST [111.] 19x81--xx and 19x8--xx 19x86--xx and 19x87--xx [1.] 19x81--xx and 19x8--xx 19x86--xx and 19x87--xx TOTAL GRIP FORCE lbs [N] [89.] 1 [66.8] 1 [44.] 81 & 86 CLOSE 81 & 86 OPEN 8 & 87 CLOSE 8 & 87 OPEN OPEN CLOSE TOTAL GRIP FORCE lbs [N] [111.] [89.] 1 [66.8] 1 [44.] 81 & 86 CLOSE 8 & 87 CLOSE 81 & 86 OPEN OPEN CLOSE [.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] [.] 8 & 87 OPEN TOOLING LENGTH ches [] 1 4 [] [] [7] [1] [111.] 19x81--xx and 19x8--xx 19x86--xx and 19x87--xx [1.] 19x81--x4x and 19x8--x4x 19x86--x4x and 19x87--x4x TOTAL GRIP FORCE lbs [N] [89.] 1 [66.8] 1 [44.] 81 & 86 OPEN 81 & 86 CLOSE 8 & 87 OPEN 8 & 87 CLOSE CLOSE OPEN TOTAL GRIP FORCE lbs [N] [111.] [89.] 1 [66.8] 1 [44.] 81 & 86 OPEN 8 & 87 OPEN 81 & 86 CLOSE CLOSE OPEN [.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] 19x8--xx 19x8--xx [.] 8 & 87 CLOSE TOOLING LENGTH ches [] 1 4 [] [] [7] [1] 19x8--x4x 19x8--x4x TOTAL GRIP FORCE lbs [N] [111.] [89.] 1 [66.8] 1 [44.] [.] 8 & 8 OPEN 8 & 8 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] [1.] [111.] CLOSE OPEN [89.] 1 [66.8] 1 [44.] [.] TOOLING LENGTH ches [] 1 4 [] [] [7] [1] 8 & 8 OPEN 8 & 8 CLOSE -1 www.phdc.com/19191
GRIP FORCE DIAGRAMS: MODELS 199x & 1919x Grippg forces are the arithmetic sum of all forces occurrg at gripper jaws. Grippg force relation to toolg length at 87 psi [6 bar] actuatg pressure. TOOLING LENGTH SHORT TRAVEL LONG TRAVEL LEGEND Max. Grip Force Direction M. Grip Force Direction Sprg Assist this Direction TOTAL GRIP FORCE lbs [N] 4 [.] 4 [178.] [1.7] [1.] [111.] [89.] 1 [66.7] 1 [44.] [.] DOUBLE ACTING 19x91--xx and 19x9--xx 19x96--xx and 19x97--xx 91 & 96 CLOSE 91 & 96 OPEN 9 & 97 CLOSE 9 & 97 OPEN TOOLING LENGTH ches [] OPEN CLOSE 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 6 [67.] [.] 4 [178.] [1.] [89.] 1 [44.] DOUBLE ACTING SPRING ASSIST 19x91--xx and 19x9--xx 19x96--xx and 19x97--xx 91 & 96 CLOSE 9 & 97 CLOSE 91 & 96 OPEN 9 & 97 OPEN TOOLING LENGTH ches [] OPEN CLOSE 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 4 [.] 4 [178.] [1.7] [1.] [111.] [89.] 1 [66.7] 1 [44.] [.] 19x91--xx and 19x9--xx 19x96--xx and 19x97--xx 91 & 96 OPEN 91 & 96 CLOSE 9 & 97 OPEN 9 & 97 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 6 [67.] [.] 4 [178.] [1.] [89.] 1 [44.] 19x91--x4x and 19x9--x4x 19x96--x4x and 19x97--x4x 91 & 96 OPEN 9 & 97 OPEN 91 & 96 CLOSE 9 & 97 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 4 [.] 4 [178.] [1.7] [1.] [111.] [89.] 1 [66.7] 1 [44.] [.] 19x9--xx 19x9--xx 9 & 9 OPEN 9 & 9 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] TOTAL GRIP FORCE lbs [N] 6 [67.] [.] 4 [178.] [1.] [89.] 1 [44.] 19x9--x4x 19x9--x4x 9 & 9 OPEN 9 & 9 CLOSE TOOLING LENGTH ches [] CLOSE OPEN 1 4 [] [] [7] [1] www.phdc.com/19191-11
ENGINEERING DATA: SERIES 19 & 191 PARALLEL GRIPPERS SPECIFICATIONS UNIT WEIGHT GRIP FORCE FACTOR (GF ) GRIPPER DISPLACEMENT STANDARD SPRING ASSIST MAX. DIRECTION MIN. DIRECTION SPRING ASSIST (Sf) NO. cm oz g oz g IMPERIAL*METRIC* IMPERIAL METRIC IMPERIAL METRIC 19x6 & 19x6.1. 1.8.61.9.49.16 19x61 & 19x66.1. 1.8.61.9.49.16 19x6 & 19x67.1..1 9.7.9.9 1.87 19x7 & 19x7.6.6.9 111 4.1 116.1 7.87.9.9. 9.99 19x71 & 19x76.6.6 4. 11 4.1 117.1 7.87.9.9. 9.99 19x7 & 19x77.6.6 4. 11 4.4 16.9 6..69 4.4 1.69 7.7 19x8 & 19x8.11 1.8 1. 89 1.4 94. 16.1.1 1. 4.8 19.17 19x81 & 19x86.11 1.8 1.7 1.8 7. 16.1.1 1. 4.8 19.17 19x8 & 19x87.11 1.8 11.4 11.6 8.1 9.68.1 8.9.6 11.78 19x9 & 19x9. 4.1.1 6. 66.49 1.61.7.87 8.7 8.98 19x91 & 19x96. 4.1. 661.7 671.49 1.61.7.87 8.7 8.98 19x9 & 19x97. 4.1.9 7 6. 74.7 17.4. 1.9 4.76 1. *Maximum grip force direction is always open (ternal grip) on all Series 19 and 191 Jaw Style One units. (19x6, 19x6, 19x7, 19x7, 19x8, 19x8, 19x9, and 19x9) NOTE: Maximum load that grippers can handle will vary based on: size of part beg picked up, shape of part, texture of part, speed at which part is transferred, workg pressure, shape of fger pads, etc. PHD recoends that the fgers or jaws be tooled or mached to conform to the shape of the part beg gripped. 1..9.9 GRIP FORCE DERATING GRAPH TOOLING LENGTH FORCE: FORCE (lb) = PRESSURE (psi) x GF FORCE [N] = PRESSURE [bar] x GF FORCE WITH SPRING ASSIST: FORCE (lb) = [PRESSURE (psi) x GF] + or Sf FORCE [N] = [PRESSURE (bar) x GF] + or Sf DERATING FACTOR.8.8.7.7.6 SIZE 9.6 SIZE 6 SIZE 7. SIZE 8. 1 4 [] [] [7] [1] TOOLING LENGTH ches [] GRIP FORCE DERATING FOR TOOLING LENGTH: FORCE (lb) AT TOOLING LENGTH () = FORCE (lb) x DERATING FACTOR FORCE [N] AT TOOLING LENGTH [] = FORCE [N] x DERATING FACTOR Determe Deratg Factor usg Grip Force Deratg Graph. Example: Gripper Model 19191--xx at 6 psi with a toolg length of. ches. FORCE = 6 psi x.49 GF = 9.4 lb 9.4 lb x.71 (DERATING FACTOR) =.8 lb Metric Example: Gripper Model 19196--xx at 4 bar with a toolg length of 7. FORCE = 4 bar x 1.61 GF = 16.44 N 16.44 N x.71 (DERATING FACTOR) = 89.77 N -1 www.phdc.com/19191
ENGINEERING DATA: SERIES 19 & 191 PARALLEL GRIPPERS SEALS AND FLUIDS Buna-N seals are standard on all Series 19 & 191 Parallel Grippers. Piston and rod seals are quad type seals and are compatible with standard paraff-based lubrication oils used for pneumatic cylders. TEMPERATURE LIMITS Seals and gripper mechanism are designed to operate at temperatures between - to 18 F [-9 to 8 C]. For operation at higher temperatures, consult PHD. LIFE EXPECTANCY All units have been tested to 1 million cycles with mimal seal wear and mimal backlash. LUBRICATION Piston, rod, and gripper mechanism are prelubricated at the factory for service under normal conditions. MATERIAL Parallel gripper body is made of hardcoated alumum. Jaws and gripper mechanism are manufactured from hardened steel. INTERNAL SPRINGS Internal sprgs are tended to assist the gripper and add grip force one direction. They can be used to open or close the gripper without pneumatic pressure or to mata grip force if pressure is lost. A sprg life excess of 1 million cycles can be expected. SPECIAL GRIPPERS Grippers for special applications, severe duty or constructed of special materials are available. Consult PHD. JAW BACKLASH Jaw backlash the (A) direction will not exceed. [.17 ] per jaw. Total clearance between the parallel jaws and the body or cover will not exceed the followg figures: (B). ch [.64 ] per jaw (C). ch [.76 ] per jaw A C B REPEATABILITY Gripper repeatability is with.4 ch [.1 ] of origal center position. www.phdc.com/19191-1
OPTIONS & ACCESSORIES: SERIES 19 & 191 PARALLEL 4 HALL SENSOR READY This option provides unit stalled with magnet for use with PHD Hall Sensor. Kits must be ordered separately. C.7 [9.] B A.187 [.] MODEL NO. 19x6x 19x7x 19x8x 19x9x KIT NO. IMPERIAL METRIC 18674-4 187-4 1867-4 18676-4 18677-4 188-4 189-4 186-4 A 1.41 [6.] 1.6 [9.] 1.8 [46.].7 [8.] LETTER DIM. B.6 [16.]. [14.].9 [7.].9 [7.] C.777 [.].974 [.] 1.486 [8.] 1.98 [.] EACH HALL SENSOR KIT CONTAINS THE FOLLOWING ITEMS: ONE SENSOR WITH A 1 FOOT [4 m] SHIELDED CABLE TWO MOUNTING SCREWS THE SENSOR MAY BE ROTATED TO ALLOW THE CABLE TO EXTEND FROM ANY SIDE OF UNIT EXCEPT THE PORT SIDE. GRIPPERS CAN BE MOUNTED WITH THE SENSOR SANDWICHED BETWEEN THE MOUNTING PLATE AND THE GRIPPER. NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN PROXIMITY SWITCH READY This option provides the grippers with a p to mount a switch target for 6 square ductive or Hall Effect proximity switch. See additional formation below for details on switch bracket/ target kits. SERIES 8 HALL EFFECT SWITCHES MODEL NO. 8-1- 84-1- 8-1 84-1 DESCRIPTION NPN 4.-4 VDC with meter cable PNP 4.-4 VDC with meter cable NPN 4.-4 VDC with Quick Connect PNP 4.-4 VDC with Quick Connect 6 SQUARE INDUCTIVE PROXIMITY SWITCHES MODEL NO. 1841-1- 1841-- DESCRIPTION NPN 1- VDC with meter cable PNP 1- VDC with meter cable SWITCH BRACKET AND TARGET KITS FOR IMPERIAL MODELS 19x6x AND 19x7x ONLY FOR IMPERIAL MODELS 19x8x & 19x9x METRIC MODELS 19x6x, 19x7x, 19x8x, & 19x9x.44 MAX.1 MAX SENSING DISTANCE SWITCH RETAINER SCREW.17 C L OF SENSOR AREA 1.181.96 [7.].1 [.8] MAX SENSING DISTANCE.17 [4.] C L OF SENSOR AREA 1.181 [.] 6 INDUCTIVE OR HALL EFFECT PROXIMITY SWITCH.9 MAX EACH SWITCH BRACKET & TARGET KIT CONTAINS THE FOLLOWING ITEMS: 1 TARGET WITH SCREW BRACKET FOR 6 SQUARE SWITCH AND ALL MOUNTING COMPONENTS SWITCHES ARE ORDERED SEPARATELY 6 INDUCTIVE OR HALL EFFECT PROXIMITY SWITCH EACH SWITCH BRACKET & TARGET KIT CONTAINS THE FOLLOWING ITEMS: 1 TARGET WITH SCREW SENSOR BRACKETS WITH MOUNTING SCREWS SWITCHES ARE ORDERED SEPARATELY NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN FOR USE WITH: SERIES 8 SWITCHES GRIPPER MODEL 19x6x 19x7x SWITCH BRACKET & TARGET KIT 9794-1 979-1 FOR USE WITH: 6 SQUARE INDUCTIVE PROXIMITY SWITCHES GRIPPER MODEL 19x6x 19x7x SWITCH BRACKET & TARGET KIT 979-1 979-1 FOR USE WITH: SERIES 8 SWITCHES GRIPPER MODEL 19x6x* 19x7x* 19x8x 19x9x SWITCH BRACKET & TARGET KIT 77 771 77 77 FOR USE WITH: 6 SQUARE INDUCTIVE PROXIMITY SWITCHES GRIPPER MODEL 19x6x* 19x7x* 19x8x 19x9x * METRIC UNITS ONLY * METRIC UNITS ONLY SWITCH BRACKET & TARGET KIT 184 1847 1848 1849-14 www.phdc.com/19191 All dimensions are reference only unless specifically toleranced.
ACCESSORIES & JAW TOOLING: SERIES 19 & 191 PARALLEL JAW TRAVEL ADJUSTMENT KIT C ADJUSTMENT SCREW WITH D HEX B A MAX MODEL NO. 19x6x 19x7x 19x8x 19x9x KIT NO. 184 1844 184 1846 A.197 [.].1 [8.].94 [1.].91 [1.] LETTER DIM. B C.94 [M x 1.] [.4].17 [M x 14.] [4.].197 [M6 x 18.] [.].1 [M1 x.] [8.] NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN D. [1.].94 [.4].1 [.].188 [4.8] JAW TRAVEL ADJUSTMENT AVAILABLE ON STYLE JAWS ONLY (19xx1, 19xx, 19xx6, AND 19xx7 MODELS). EACH JAW TRAVEL ADJUSTMENT KIT CONTAINS THE FOLLOWING ITEMS: ONE ADJUSTMENT SCREW AND NUT TRAVEL CAN ONLY BE ADJUSTED IN THE MAX FORCE DIRECTION OF ANY MODEL. EXAMPLE 1: A MAX FORCE CLOSE GRIPPER; TRAVEL IS ONLY VARIED IN THE CLOSE DIRECTION, TRAVEL IN THE OPEN DIRECTION REMAINS UNCHANGED. EXAMPLE : A MAX FORCE OPEN GRIPPER; TRAVEL IS ONLY VARIED IN THE OPEN DIRECTION, TRAVEL IN THE CLOSE DIRECTION REMAINS UNCHANGED. The Jaw Travel Adjustment Kit contas a screw and a lock nut used to limit the jaw openg on Jaw Style parallel grippers. Jaw travel can be adjusted from zero openg to maximum openg. Below is one application example showg how the jaw travel adjustment kit can be of benefit. If the option of maximum grip force on jaw closure is specified, (-xxx option) the adjustment kit will limit the travel the closg direction. With jaws fully open, the toolg hits the obstruction and the part cannot be gripped. Turng jaw travel adjustment screw ward reduces the maximum open position; allowg the toolg to clear the obstruction. The part can now be gripped. (The jaw closed dimension is not affected by the jaw travel adjustment.) JAW TOOLING JAW STYLE 1 Jaw Style 1 is ideally suited for small parts. Simple toolg can provide a long narrowed profile for small parts or for reachg to confed areas. NARROW PROFILE JAW STYLE Jaw Style allows simple toolg of wide parts. This type of toolg keeps the part close to the unit for a low profile package. Jaw Style provides the lowest profile assembly for ternal grippg by keepg the toolg close to the gripper. MINIMUM HEIGHT LOW PROFILE DOWEL PINS Style 1 jaw is provided with a dowel p hole as a means of orientg and locatg jaw toolg. MALE KEY Style jaws have a close tolerance male key for orientation and precise location of jaw toolg. Jaw toolg can be readily mached to clude a matg slot for the jaw key. www.phdc.com/19191-1
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES GRD PARALLEL GRIPPERS TO ORDER SPECIFY: Product Type, Series, Type, Style, Size, Jaw Style, Design No., and Options. PRODUCT TYPE G - Gripper SERIES TYPE D - Parallel High Grip Force SIZE - Bore 4 - Bore - Bore 6-4 Bore DESIGN NO. MAXIMUM FORCE REVERSED JAW MOVEMENT - Maximum Force on Open - Maximum Force on Close (See Note.) SEALS 1 - Buna-N - Fluoro-Elastomer G R D 1 4 1-1 - 1 N EED T O FIT CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. IMPERIAL 1 - Full Mountg - Full Mountg Corrosion Resistant - Bottom Mount 4 - Bottom Mount Corrosion Resistant STYLE METRIC - Full Mountg 6 - Full Mountg Corrosion Resistant 7 - Bottom Mount 8 - Bottom Mount Corrosion Resistant NOTES: 1) Long jaw travel and 1 external proximity switch ready options are not available on size or size 4 units. ) Sprg assist available same direction as maximum force movement only. (-x4x, -x6x, -xx, -xx) See page -8. ) All switches and kits must be ordered separately. See pages -4 to -7. JAW STYLE 1 - Short Travel - Long Travel (See Note 1.) SENSOR OPTION - None 1 - Reed Switch Ready (For Series 8 Switches) - Hall Effect Switch Ready (For Series 8 Switches) 6-4 External Proximity Switch Ready 7-8 External Proximity Switch Ready 8-1 External Proximity Switch Ready (See Note 1.) SPRING OPTION - None MEDIUM FORCE - Sprg Assist Close 4 - Sprg Assist Open HEAVY FORCE - Sprg Assist Close 6 - Sprg Assist Open (See Note.)! Options may affect unit length. See unit dimension and options pages for adders. PART NO. 8-1- 8-1 PART NO. 184-1- 184-- SERIES 8 REED SWITCHES DESCRIPTION NPN (Sk) or PNP (Source) 4.-4 VDC, meter cable NPN (Sk) or PNP (Source) 4.-4 VDC, Quick Connect 4 ROUND PROXIMITY SWITCHES DESCRIPTION NPN (Sk) 1- VDC, meter cable PNP (Source) 1- VDC, meter cable PART NO. 8-1- 84-1- 8-1 84-1 8 THREADED PROXIMITY SWITCHES PART NO. 14-- 14-6- SERIES 8 HALL EFFECT SWITCHES DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect DESCRIPTION NPN (Sk) - VDC, meter cable PNP (Source) - VDC, meter cable SWITCH MOUNTING KIT FOR SERIES 8 SWITCHES 1 THREADED PROXIMITY SWITCHES PART NO. 161-1 161-161- PART NO. 61494 DESCRIPTION Switch Mountg Kit Each mountg kit contas 1 proximity switch bracket and 1 mountg screw. DESCRIPTION NPN (Sk) 4 VDC, meter cable PNP (Source) 4 VDC, meter cable AC 117 VAC, meter cable -16 www.phdc.com/grd
BENEFITS: SERIES GRD PARALLEL GRIPPERS BENEFITS Very high grip force to weight ratio for efficient use of space and power. Compact size is ideal for handlg small parts confed areas. Available four sizes with two body styles for maximum application versatility. True parallel jaw travel for easy toolg design. Double actg for either ternal or external grippg applications. Units can be specified with maximum grip force for ternal or external grippg for optimum unit performance. Optional sprg assist can be specified to enhance maximum grippg force or for part retention upon loss of air pressure. Close tolerance jaw mechanism mimizes jaw play. Use of male keys allows precise positiong of toolg. Internal jaw mechanism is constructed of hardened steel components and is enclosed for a mimum life of 1 million trouble-free cycles. Reed, Hall or Proximity Switches are available for dication of jaw position. Series GRD Grippers are fully field repairable. SPECIFICATIONS WORKING PRESSURE BODY JAWS SEALS LUBRICATION SERIES GRD psi M. - 1 psi Max. [ bar M. - 7 bar Max.] Hardcoat Alumum Hardened Steel Bidirectional Piston Seal Lip Type or O-rg Rod Seal Permanent for Non Lube Air MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS MODEL NO. GRDx1 GRDx41 GRDxx GRDx6x Fa lb N 19 48 17 476 1 947 14 -lb 64 86 47 Mx Nm 7 1 6 49 -lb 68 68 168 81 My Nm 8 8 19 -lb 18 6 Mz Nm 6 6 16 8 Fa: Total for both jaws Mx: Per jaw, with moments from cover surface My: Per jaw, with moments from center of gripper Mz: Per jaw, with moments from cover surface, toolg keyed to jaw COVER SURFACE Fa Mz Mx My www.phdc.com/grd -17
DIMENSIONS: SERIES GRD GRIPPERS, FULL MOUNTING J4 IMPERIAL J7 J X J6 DOWEL PIN HOLES 4X H THREAD METRIC J7 Ø E 4 4X H THREAD Ø E 4 SEE SWITCH OPTION PAGE FOR DETAIL J J8 H1 SQUARE 1 J8 H1 SQUARE 1 J1 4X J THREAD X J6 DOWEL PIN HOLES X J6 DOWEL PIN HOLES LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED A OPEN AL CLOSED AL OPEN B C D E* G1 G* G* G4 G G6 G7 H1 H J1 J* J J4 J J6* J7* J8* P1 P P P4 P GRDx1.187 1.68 1.1 1.141 1.6 1.9.866 x.79 DP.1.76.491 1.664.11. 6- x.8 DP.846 4-4 x. DP.886.846.76.1 4-4 x. DP.64.118.984.49.6.49 1-1/16 4.7 4.7 8. 9. 7. 48.7. x. DP 14. 7. 1. 4.. 6. M x. x 6. DP 1. M x. x 6. DP. 1. 7. 14. M x. x 6. DP. 1.. 1. 8. 1. M x.8. MODEL NO. GRDx41 GRDxx GRDx6x. 1.81.14 1.47 1.78 1.99 1.14 x.79 DP.1.76.491 1.61.11. 6- x.8 DP 1.1 8- x. DP.96 1.14.96.91 8- x. DP.19.748 1..49..47 1-1/16 8. 47. 4. 7.. 48. 8. x. DP 14. 7. 1. 4.. 6. M x. x 6. DP 8. M4 x.7 x 8. DP. 8. 7. 1. M4 x.7 x 8. DP. 19. 1. 1. 8. 1. M x.8..1. 1.87.14.41.874 1.64 1.7. 1.41 x.8 DP.787.94.748.6.186.7 8- x. DP 1. 1-4 x.7 DP 1.1 1..1.6 1-4 x.81 DP.19.8661 1.417.669..1 1-1/16 8 1.7 47. 4. 61. 7. 4. 4. 8. 4. x. DP. 1. 19. 1. 4. 1. M4 x.7 x 8. DP 1. M x.8 x 1. DP. 1. 8. 16. M x.8 x 7. DP.. 6. 17. 8. 1. M x.8..4.699.9.77.9.9.16 1.969.97 1.66 x.87 DP 1.4.118.984.616.18.6 1-4 x.8 DP 1. 1/4- x. DP 1.614 1.4.94.787 1/4- x.7 DP.1884 1.6 1.84.669.9.669 1-1/16 1.7 17.7 6.7 7. 74. 91. 4.. 7. 4. x. DP 6. 1.. 66. 6. 1. M x.8 x 1. DP 9. M6 x 1. x 1. DP 41. 9. 1.. M6 x 1. x 9. DP 4. 7. 47. 17. 1. 17. M x.8. NOTES: 1) NUMBERS IN [ ] ARE ) *TOLERANCE FOR DIMENSIONS: E = ±. [±.1] G = ±.6 [±.1] G = ±. [±.7] J (BETWEEN DOWEL PIN HOLES) = ±.8 [±.] J6 = ±. [H7] J7 AND J8 = ±.8 [±.] ) CIRCLED NUMBERS INDICATE SURFACE POSITIONS A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. G4 D.79 [.] KEY DEPTH 6 A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) P4 PORT FITTING FOR P ID TUBE (SUPPLIED WITH UNIT) P B P G G4 G G6 C G1 P1 G G7 THREAD X EACH JAW -18 www.phdc.com/grd All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SERIES GRD GRIPPERS, BOTTOM MOUNTING 4X H THREAD Ø E 4 SEE SWITCH OPTION PAGE FOR DETAIL H1 SQUARE 1 G4 D LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED A OPEN AL CLOSED AL OPEN B C D E* G1 G* G* G4 G G6 G7 H1 H P1 P P P4 P GRDx1.187 1.68 1.1 1.141 1.6 1.9.866 x.79 DP.1.76.491 1.664.11. 6- x.8 DP.846 4-4 x. DP.49.6.49 1-1/16 4.7 4.7 8. 9. 7. 48.7. x. DP 14. 7. 1. 4.. 6. M x. x 6. DP 1. M x. x 6. DP 1. 8. 1. M x.8. NOTES: 1) NUMBERS IN [ ] ARE ) *TOLERANCE FOR DIMENSIONS: E = ±. [±.1] G = ±.6 [±.1] G = ±. [±.7] ) CIRCLED NUMBERS INDICATE SURFACE POSITIONS A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. MODEL NO. GRDx41 GRDxx GRDx6x. 1.81.14 1.47 1.78 1.99 1.14 x.79 DP.1.76.491 1.61.11. 6- x.8 DP 1.1 8- x. DP.49..47 1-1/16 8. 47. 4. 7.. 48. 8. x. DP 14. 7. 1. 4.. 6. M x. x 6. DP 8. M4 x.7 x 8. DP 1. 8. 1. M x.8..1. 1.87.14.41.874 1.64 1.7. 1.41 x.8 DP.787.94.748.6.186.7 8- x. DP 1. 1-4 x.7 DP.669..1 1-1/16 8 1.7 47. 4. 61. 7. 4. 4. 8. 4. x. DP. 1. 19. 1. 4. 1. M4 x.7 x 8. DP 1. M x.8 x 1. DP 17. 8. 1. M x.8..4.699.9.77.9.9.16 1.969.97 1.66 x.87 DP 1.4.118.984.616.18.6 1-4 x.8 DP 1. 1/4- x. DP.669.9.669 1-1/16 1.7 17.7 6.7 7. 74. 91. 4.. 7. 4. x. DP 6. 1.. 66. 6. 1. M x.8 x 1. DP 9. M6 x 1. x 1. DP 17. 1. 17. M x.8..79 [.] KEY DEPTH 6 A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) P4 PORT FITTING FOR P ID TUBE (SUPPLIED WITH UNIT) P B P G G4 G G6 C G1 P1 G G7 THREAD X EACH JAW All dimensions are reference only unless specifically toleranced. www.phdc.com/grd -19
GRIP FORCE GRAPHS: SERIES GRDx/GRDx4 PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg forces shown are for maximum force direction at 87 psi [6 bar] actuatg pressure, related to toolg length. Sprg only forces are shown with no actuatg pressure. TOOLING LENGTH PART GRDx1-1-xxx MAXIMUM FORCE CLOSE GRDx1-1-xxx MAXIMUM FORCE OPEN [] CLOSE OPEN [] OPEN CLOSE TOTAL GRIP FORCE lb [N] 4 [178] [14] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 4 [178] [14] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY 1 [4] MEDIUM SPRING ONLY 1 [4] MEDIUM SPRING ONLY 1 [] [1] [76] 1 [] [1] [76] TOOLING LENGTH ch [] TOOLING LENGTH ch [] GRDx41-1-xxx MAXIMUM FORCE CLOSE GRDx41-1-xxx MAXIMUM FORCE OPEN 6 [67] CLOSE OPEN 6 [67] OPEN CLOSE [] AIR WITH HEAVY SPRING [] AIR WITH HEAVY SPRING TOTAL GRIP FORCE lb [N] 4 [178] [14] [89] AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 4 [178] [14] [89] AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY 1 [4] MEDIUM SPRING ONLY 1 [4] MEDIUM SPRING ONLY 1 [] [1] [76] 1 [] [1] [76] TOOLING LENGTH ch [] TOOLING LENGTH ch [] - www.phdc.com/grd
GRIP FORCE GRAPHS: SERIES GRDx PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg forces shown are for maximum force direction at 87 psi [6 bar] actuatg pressure, related to toolg length. Sprg only forces are shown with no actuatg pressure. TOOLING LENGTH PART GRDx1-1-xxx MAXIMUM FORCE CLOSE GRDx1-1-xxx MAXIMUM FORCE OPEN 14 [6] CLOSE OPEN 14 [6] OPEN CLOSE 1 [4] AIR WITH HEAVY SPRING 1 [4] AIR WITH HEAVY SPRING TOTAL GRIP FORCE lb [N] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [89] MEDIUM SPRING ONLY [89] MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] 1 [] [1] [76] 4 [1] TOOLING LENGTH ch [] TOOLING LENGTH ch [] GRDx-1-xxx (LONG TRAVEL) MAXIMUM FORCE CLOSE GRDx-1-xxx (LONG TRAVEL) MAXIMUM FORCE OPEN 9 [4] CLOSE OPEN 9 [4] OPEN CLOSE 8 [6] 8 [6] TOTAL GRIP FORCE lb [N] 7 [11] 6 [67] [] 4 [178] [14] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 7 [11] 6 [67] [] 4 [178] [14] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [89] 1 [4] MEDIUM SPRING ONLY [89] 1 [4] MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] 1 [] [1] [76] 4 [1] TOOLING LENGTH ch [] TOOLING LENGTH ch [] www.phdc.com/grd -1
GRIP FORCE GRAPHS: SERIES GRDx6 PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg forces shown are for maximum force direction at 87 psi [6 bar] actuatg pressure, related to toolg length. Sprg only forces are shown with no actuatg pressure. TOOLING LENGTH PART GRDx61-1-xxx MAXIMUM FORCE CLOSE GRDx61-1-xxx MAXIMUM FORCE OPEN [111] CLOSE OPEN [111] OPEN CLOSE TOTAL GRIP FORCE lb [N] [89] 1 [667] 1 [44] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] [89] 1 [667] 1 [44] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [] MEDIUM SPRING ONLY [] MEDIUM SPRING ONLY 1 [] [1] [76] TOOLING LENGTH ch [] 4 [1] [17] 1 [] [1] [76] TOOLING LENGTH ch [] 4 [1] [17] GRDx6-1-xxx (LONG TRAVEL) MAXIMUM FORCE CLOSE GRDx6-1-xxx (LONG TRAVEL) MAXIMUM FORCE OPEN TOTAL GRIP FORCE lb [N] 14 [6] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY CLOSE OPEN TOTAL GRIP FORCE lb [N] 14 [6] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY OPEN CLOSE [89] MEDIUM SPRING ONLY [89] MEDIUM SPRING ONLY 1 [] [1] [76] TOOLING LENGTH ch [] 4 [1] [17] 1 [] [1] [76] TOOLING LENGTH ch [] 4 [1] [17] - www.phdc.com/grd
ENGINEERING DATA: SERIES GRD PARALLEL GRIPPERS MODEL NO. GRDx1 GRDx41 GRDx1 GRDx GRDx61 GRDx6 MIN. TOTAL JAW TRAVEL.147.94.7.46.8.69.7 7. 7. 11.7 9.7 16.7 TOTAL GRIP FORCE AT 87 psi [6 bar] lb 4 87 4 16 91 N 147 178 87 4 64 46 GRIPPER WEIGHT oz g 4 11 6 17 1. 98 11. 6. 68 79 SPECIFICATIONS CLOSE OR OPEN TIME 87 psi [6 bar] sec...4.4.6.6 MINIMUM OPERATING PRESSURE psi bar DISPLACE- MENT cm.7 1.1. 4. 4.4 9.4 9 GF GRIP FORCE FACTOR MAXIMUM DIRECTION MINIMUM DIRECTION METRIC IMPERIAL 4.. 9.7.4 64..9 4.. 1.6 1.4 67.7.9 IMPERIAL.8.46 1..6 1.6 1. METRIC 1. 7.1 8.1. 91.6 61. MODEL NO. GRDx1 GRDx41 GRDx1 GRDx GRDx61 GRDx6 SF SPRING FORCE lb 1 4 6 66 44 N 67 87 187 117 94 196 WEIGHT ADDER oz 1..7 1 1 g 4 77 14 14 84 84 HEAVY SPRING MINIMUM OPERATING CLOSE OR OPEN TIME 87 psi [6 bar] sec PRESSURE AGAINST WITH SPRING psi bar SPRING SPRING ONLY 7... 7... 7.6.. 7.6.. 7.1..8 7.1..8 SF SPRING FORCE lb 1 16 7 N 71 1 96 4 16 WEIGHT ADDER oz 1.. 4. 4. 9. 9. g 71 18 18 6 6 MEDIUM SPRING MINIMUM OPERATING CLOSE OR OPEN TIME 87 psi [6 bar] sec PRESSURE AGAINST WITH psi bar SPRING SPRING 6 4.. 6 4.. 6 4..4 6 4..4 6 4.8.6 6 4.8.6 SPRING ONLY.4.4.7.7.1.1 TOOLING LENGTH FACTOR Toolg should be designed so that the grip pot is as close to the cover surface as possible. When the grip pot moves away, jaw friction creases, which decreases grip force. The GF formation given above is for zero toolg length (cover surface). The chart shows DISTANCE FROM COVER SURFACE PART how force decreases as the grip pot moves away from the cover surface. The deratg figures and maximum toolg lengths are cluded the graphs on pages - to -. DERATING FACTOR 1..9.8.7.6..4...1 1 [] CHART A GRDx1 GRDx41 [1] [76] GRDxx TOOLING LENGTH ch [] 4 [1] GRDx6x [17] GRIPPER CALCULATION EXAMPLE TOTAL FORCE lb [N] = [Pressure psi [bar] x GF] x Toolg Length Factor TOTAL FORCE WITH SPRINGS lb [N] = [(Pressure psi [bar] x GF) ± SF] x Toolg Length Factor GRD11--1 (WITHOUT SPRINGS) Operatg Pressure = 8 psi Fd Grip Force GF = 1. (from Specifications) Fd Toolg Length Factor =.7 (See Chart A above) (Toolg Length of. =.7 Toolg Length Factor) [1. x 8 psi] x.7 = 7.6 lb Total Grip Force COVER SURFACE GRD11-1-1 (WITH SPRINGS) Sprg assist close, medium sprgs Operatg Pressure = 8 psi Fd Sprg Force SF = (from Specifications) (All other data is the same.) [(1. x 8 psi) + ] x.7 = 8.8 lb Total Grip Force. [] PART www.phdc.com/grd -
ENGINEERING DATA: SERIES GRD PARALLEL GRIPPERS SEALS AND FLUIDS Buna-N seals are standard on all Series GRD Parallel Grippers. Piston seals are long life Buna-N and rod seals are lip type or O- rgs. Both are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For higher temperatures, consult PHD. LIFE EXPECTANCY All units with Buna-N seals have been tested to 1 million cycles with mimal seal wear and mimal backlash. INTERNAL SPRINGS Internal sprgs are tended to assist the gripper and add to grip force one specific direction. They can be used to open or close the gripper without pneumatic pressure or to mata sprg grip force if pressure is lost. Sprg life excess of 1 million cycles can be expected. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service under normal operatg conditions. MATERIAL Parallel gripper body is made of hardcoated alumum. Jaws and operatg mechanism are manufactured from hardened steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. REPEATABILITY Grip repeatability is with.4 ch [.1 ] of origal centered position. BACKLASH Jaw backlash the (A) direction will not exceed. [.17 ] per jaw. Total clearance between the parallel jaws and the gripper body or cover will not exceed the followg figures: (B). [.64 ] (C). [.76 ] B C A SENSOR OPTIONS & ACCESSORIES: SERIES GRD 1 PART NO. 8-1- 8-1 PART NO. 8-1- 84-1- 8-1 84-1 REED SWITCH READY HALL EFFECT SWITCH READY COLOR White White HALL EFFECT SWITCHES COLOR Yellow Red Yellow Red SWITCH TYPE 8 REED 8 HALL EFFECT 4,8, & 1 PROXIMITY REED SWITCHES DESCRIPTION NPN (Sk) or PNP (Source) 4.-4 VDC, meter cable NPN (Sk) or PNP (Source) 4.-4 VDC, Quick Connect DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect Options -1 and - equip the gripper with magnets for use with PHD Series 8 Reed and Hall Effect Switches. See Switches and Sensors section for complete switch specifications. Switches and mountg kits must be ordered separately..79 [.] HEX FOR CLAMPING PROXIMITY SWITCH.197 [.] MAX - HALL EFFECT.9 [1.] MAX - REED PART NO. 61494 17-- 17-- SWITCH HYSTERESIS.61 [9.] 1.18 [.] DESCRIPTION Switch Mountg Kit meter Cordset with Quick Connect meter Cordset with Quick Connect Each mountg kit contas 1 proximity switch bracket and 1 mountg screw. GRDx1 GRDx41 GRDx1 GRDx61 GRDx GRDx6.1 1.6.8..11.1.89.9.8..6.1.1 1.6.8..11.1.6.79.8..11.1.89.9.8.4.1.1..6.1 1.14.46.8-4 www.phdc.com/grd All dimensions are reference only unless specifically toleranced.
SENSOR OPTIONS & ACCESSORIES: SERIES GRD 6 4 EXTERNAL PROXIMITY SWITCH READY (-6xxx) This option equips the gripper with a cover and hardware to provide for the mountg of 4 round metal sensg proximity switches. The user is required to design and mount targets for the switch to sense. See the example on page -7. See Switches and Sensors section for complete switch specifications. LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED* A OPEN* AL CLOSED* AL OPEN* FP1 FP FP FP4 FP FP6 FP7 FP8 FP9 GRDx1.187 1.68 1.1 1.1.1.6.6..846.964.98 4 4.7 4.7 8. 8. 14. 6. 16. 1. 1. 4.. 4 NOTES: 1) PROXIMITY SWITCHES MUST BE ORDERED SEPARATELY ) HAND TIGHTEN CLAMP SHCS UNTIL PROXIMITY SWITCHES NO LONGER MOVE PART NO. 184-1- 184-- MODEL NO. GRDx41 GRDxx. 1.81.14 1.417.6.6.866.689.984 1.1.98 4 8. 47. 4. 6. 16. 6.. 17.. 8.. 4 4 ROUND PROXIMITY SWITCHES.1. 1.87.14.41.874 1.614.748.9.96.788 1.8 1.1.98 4 DESCRIPTION NPN (Sk) 1- VDC, meter cable PNP (Source) 1- VDC, meter cable 8. 1.7 47. 4. 61. 7. 41. 19. 7... 7... 4 GRDx6x.4.699.9.77.9.9.87 1..4 1.1.984 1.8 1.98.98 4 1.7 17.7 6.7 7. 74. 91.. 1. 9. 8..... 4 * A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. FP FP8 HEX FOR CLAMPING PROXIMITY SWITCH FP X THRU HOLE FOR FP9 PROXIMITY SWITCH A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) FP1 FP FP6 FP7 FP4 All dimensions are reference only unless specifically toleranced. www.phdc.com/grd -
SENSOR OPTIONS & ACCESSORIES: SERIES GRD 7 8 EXTERNAL PROXIMITY SWITCH READY (-7xxx) This option equips the gripper with a cover and hardware to provide for the mountg of 8 threaded metal sensg proximity switches. The user is required to design and mount targets for the switch to sense. See the example on page -7. See Switches and Sensors section for complete switch specifications. LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED* A OPEN* AL CLOSED* AL OPEN* EP1 EP EP EP4 EP EP6 EP7 EP8 EP9 GRDx1.187 1.68 1.1 1.1.1.6.718..9 1..98 M8 x 1. 4.7 4.7 8. 8. 14. 6. 18. 1..7 6.7. M8 x 1. NOTES: 1) PROXIMITY SWITCHES MUST BE ORDERED SEPARATELY ) HAND TIGHTEN CLAMP SHCS UNTIL PROXIMITY SWITCHES NO LONGER MOVE MODEL NO. GRDx41 GRDxx. 1.81.14 1.417.6.6.866.689 1.6 1.181.98 M8 x 1. 8. 47. 4. 6. 16. 6.. 17. 7... M8 x 1. 8 THREADED PROXIMITY SWITCHES PART NO. 14-- 14-6- DESCRIPTION NPN (Sk) - VDC, meter cable PNP (Source) - VDC, meter cable.1. 1.87.14.41.874 1.614.748.9.984.788 1.79 1.97.98 M8 x 1. 8. 1.7 47. 4. 61. 7. 41. 19. 7...... M8 x 1. GRDx6x.4.699.9.77.9.9.87 1..4 1.18.984 1.418 1..98 M8 x 1. 1.7 17.7 6.7 7. 74. 91.. 1. 9... 6. 9.. M8 x 1. * A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. EP EP8 HEX FOR CLAMPING PROXIMITY SWITCH EP X THREAD FOR EP9 THREADED PROXIMITY SWITCH A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) EP1 EP EP6 EP7 EP4-6 www.phdc.com/grd All dimensions are reference only unless specifically toleranced.
SENSOR OPTIONS & ACCESSORIES: SERIES GRD 8 LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED* A OPEN* AL CLOSED* AL OPEN* TP1 TP TP TP4 TP TP6 TP7 TP8 TP9 1 EXTERNAL PROXIMITY SWITCH READY (-8xxx) MODEL NO. GRDxx GRDx6x.1. 1.87.14.41.874 1.614.748.9 1.6.788 1.78 1.496.98 M1 x 1. 8. 1.7 47. 4. 61. 7. 41. 19. 7. 7... 8.. M1 x 1..4.699.9.77.9.9.87 1..4 1.6.984 1.74 1.69.98 M1 x 1. 1.7 17.7 6.7 7. 74. 91.. 1. 9... 4. 4.. M1 x 1. NOTES: 1) PROXIMITY SWITCHES MUST BE ORDERED SEPARATELY ) HAND TIGHTEN CLAMP SHCS UNTIL PROXIMITY SWITCHES NO LONGER MOVE * A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. TP8 HEX FOR CLAMPING PROXIMITY SWITCH X THREAD FOR TP9 THREADED PROXIMITY SWITCH This option equips the gripper with a cover and hardware to provide for the mountg of 1 threaded metal sensg proximity switches. The user is required to design and mount targets for the switch to sense. See the example below. A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) TP1 TP TP TP6 TP7 TP TP4 1 THREADED PROXIMITY SWITCHES PART NO. 161-1 161-161- DESCRIPTION NPN (Sk) 4 VDC, meter cable PNP (Source) 4 VDC, meter cable AC 117 VAC, meter cable 161-1 SPECIFICATIONS 161-161- INPUT VOLTAGE 1 to VDC to 6 VAC OUTPUT CURRENT RATING ma. Max. - ma. Max. INRUSH CURRENT NA 1 Amp ms. SHORT PRTECT Yes No REVERSE VOLTAGE Yes No LEAKAGE CURRENT µa. 1. ma. Max. OUTPUT STATE Normally Open REPEATABILITY ±. [.8 ] ENVIRONMENTAL IEC IP67 MODEL 161-1 DC NPN (SINK) SWITCH BLUE DC MODEL 161- DC PNP (SOURCE) SWITCH BROWN BLACK BROWN BLACK BLUE LOAD LOAD WIRING SCHEMATICS DC DC DC MODEL 161- - AC SWITCH BROWN BLUE LOAD LINE NEUTRAL EXAMPLE OF TARGET CREATED BY CUSTOMER FOR EXTERNAL PROXIMITY SWITCHES ON OFF GRIPPER SHOWN IN CLOSED POSITION SHCS TARGET - JAWS OPEN SHCS TARGET - JAWS CLOSED PROXIMITY CLAMP SCREW COVER PROXIMITY SWITCHES BODY All dimensions are reference only unless specifically toleranced. www.phdc.com/grd -7
SPRING OPTIONS: SERIES GRD PARALLEL GRIPPERS & 4 & 6 MEDIUM FORCE SPRING ASSIST (-xxx) or (-xx4x) HEAVY FORCE SPRING ASSIST (-xxx) or (-xx6x) (Full mountg style only) Sprgs can mata sprg grip force if air pressure is lost or crease grip force one specific direction when used with air pressure. They can open or close the gripper without air pressure. Sprg life excess of 1 million cycles can be expected. For mimum operatg pressures and sprg forces, see specifications on page -. NOTE: Sprg assist option may affect dimensions. J4 J X J6 DOWEL PIN HOLES J7 4 4X H THREAD SEE SWITCH OPTION PAGE FOR DETAIL J J8 H1 SQUARE 1 J1 4X J THREAD METRIC X J6 DOWEL PIN HOLES IMPERIAL X J6 DOWEL PIN HOLES G4 D LETTER DIM. NOMINAL JAW TRAVEL SHORT LONG A CLOSED A OPEN AL CLOSED AL OPEN B C D G1 G* G* G4 G G6 G7 H1 H J1 J* J J4 J J6* J7* J8* P1 P P P4 P GRDxx.187 1.68 1.1 1.141 1.6..1.76.491.4.11. 6- x.8 DP.846 4-4 x. DP.886.846.76.1 4-4 x. DP.64.118.984.49.94.49 1-1/16 4.7 4.7 8. 9. 7. 6. 14. 7. 1. 7.. 6. M x. x 6. DP 1. M x. x 6. DP. 1. 7. 14. M x. x 6. DP. 1.. 1.. 1. M x.8. MODEL NO. GRDx4x GRDxx GRDx6x. 1.81.14 1.47 1.78.99.1.76.491.41.11. 6- x.8 DP 1.1 8- x. DP.96 1.14.96.91 8- x. DP.19.748 1..49 1..47 1-1/16 8. 47. 4. 7.. 66. 14. 7. 1. 9.. 6. M x. x 6. DP 8. M4 x.7 x 8. DP. 8. 7. 1. M4 x.7 x 8. DP. 19. 1. 1. 6. 1. M x.8..1. 1.87.14.41.874 1.64 1.7.149.787.94.748.8.186.7 8- x.8 DP 1. 1-4 x.7 DP 1.1 1..1.6 1-4 x.81 DP.19.8661 1.417.669 1.179.1 1-1/16 8 1.7 47. 4. 61. 7. 4. 4. 8.. 1. 19. 7. 4. 1. M4 x.7 x 8. DP 1. M x.8 x 1. DP. 1. 8. 16. M x.8 x 7. DP.. 6. 17. 6. 1. M x.8..4.699.9.77.9.9.16 1.969 4.94 1.4.118.984.78.18.6 1-4 x.8 DP 1. 1/4- x. DP 1.614 1.4.94.787 1/4- x.7 DP.1884 1.6 1.84.669 1.14.669 1-1/16 1.7 17.7 6.7 7. 74. 91. 4.. 14. 6. 1.. 9. 6. 1. M x.8 x 1. DP 9. M6 x 1. x 1. DP 41. 9. 1.. M6 x 1. x 9. DP 4. 7. 47. 17. 8. 17. M x.8. NOTES: 1) NUMBERS IN [ ] ARE ) *TOLERANCE FOR DIMENSIONS: G = ±.6 [±.1] G = ±. [±.7] J (BETWEEN DOWEL PIN HOLES) = ±.8 [±.] J6 = ±. [H7] J7 AND J8 = ±.8 [±.] ) CIRCLED NUMBERS INDICATE SURFACE POSITIONS A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION..79 [.] KEY DEPTH 6 A (GRDxx1 SHORT TRAVEL) AL (GRDxx LONG TRAVEL) P4 PORT FITTING FOR P ID TUBE (SUPPLIED WITH UNIT) P B P G G4 G G6 C G1 P1 G G7 THREAD X EACH JAW -8 www.phdc.com/grd All dimensions are reference only unless specifically toleranced.
MAXIMUM FORCE OPTIONS: SERIES GRD GRIPPERS MAXIMUM FORCE IN CLOSE DIRECTION (-xxx) This option changes the maximum force of the jaws from the open direction to the closed direction. This switches or changes the jaw offset 18 from standard. NOTE JAW OFFSET ON THIS SIDE. DIMENSIONS REMAIN THE SAME. SEE DIMENSION PAGES. www.phdc.com/grd -9
PRODUCTS CUSTOM ORDERING DATA: SERIES PARALLEL OVAL GRIPPERS TO ORDER SPECIFY: Model, Design No., Options, and Seals. IMPERIAL MODEL METRIC MODEL 16 - Size 17 - Size 18 - Size 4 19 - Size 16 - Size 17 - Size 18 - Size 4 19 - Size SWITCH OPTIONS - None 7 - Hall Effect Magnet on piston and T slot on the body for Series 6 Hall Switches 16-1 - 6-1- 64-1- 6-1 64-1 DESIGN NO. OPTIONS SERIES 6 MINIATURE HALL EFFECT SWITCHES PART NO. DESCRIPTION NPN (Sk) 4.-4 VDC, meter Cable PNP (Source) 4.-4 VDC, meter Cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect NOTES: 1) See Switches and Senors section for switch formation. ) Switches must be ordered separately. OPTIONS - None LIGHT SPRING FORCE - Sprg Close 4 - Sprg Open HEAVY SPRING FORCE - Sprg Close 6 - Sprg Open CCUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. SEALS 1 - Buna-N - Fluoro-Elastomer N EED T O FIT - www.phdc.com/grd
BENEFITS: SERIES PARALLEL OVAL GRIPPERS BENEFITS Double-actg for either ternal or external gripper applications. Oval piston construction provides high grip force to weight ratio. Optional ternal sprgs allow the unit to be used as a sgleactg gripper, for additional grip force, or for graspg an object without air pressure. Close tolerance jaw mechanism elimates jaw play. Internal jaw mechanism is constructed of hardened steel components and is enclosed to provide long life. Available with Hall Effect Proximity Switches for dication of jaw position and terfacg with various controllers and logic systems. SPECIFICATIONS SERIES MEDIA Lubricated Air MINIMUM psi [1.7 bar] without Sprg Option PRESSURE 4 psi [.7 bar] with Light Sprg Option REQUIREMENTS 6 psi [4. bar] with Heavy Sprg Option MAX. PRESSURE 1 psi [1 bar] Air JAWS Hardened Steel BODY Hardcoated Alumum JAW GUIDE Hardened Steel ROD BUSHING Bronze PISTON SEALS Quad Type ROD SEALS Block Vee with Back-up rg PORTS NPT [BSP] OPTIONS Series 6 Switches, Sprg Assist - Light or Heavy www.phdc.com/grd -1
DIMENSIONS: SERIES PARALLEL OVAL GRIPPER CLOSE OPEN X THRU DIA & C'BORE FOR W SHCS FROM BOTH SIDES X Y P SQ V FF U C EE* L A T 4X Q THREAD SLOTS FOR OPT HALL SWITCH M L S R K LETTER DIM. NOMINAL JAW TRAVEL A CLOSED A OPEN B C D E F G H K L M P Q R S T U V W X Y Z AA BB CC DD EE FF GG 16.6 4.16 4.7 1.87 4..96.7.6 1/4- x.1 DP.6 1.64 1.4.47 1. 1-4 x.8 DP.6.6 1.16.1.84 1/4 1.6 1.17 1.781.47 1-.6.44.4.81 1.7 16 1.8 1.6 119.9 47.6 11.6 4.4 6.9 1.9 M6 x 1 x 8. DP 1.9 4.7 9.1 11.1 1.8 M x.8 x 9.7 DP 66.7 1.6 9.4 8.7 7. M6. 9.7 4. 11.1 M x.8 14. 11. 1. 71.4 44. 17 1..71 6.6.. 1.1.4.7 /16-18 x.8 DP.7.161.1. 1. 1/4- x.8 DP.187.6 1.687.7 4.1 /16 1.76 1.6.81.68 1/8 NPT.7. 4.. MODEL NUMBER 17.4 14. 168.9 7. 19.7 8.7 1.7 19.1 M8 x 1. x 9. DP 19.1 4.9. 1.7 8.1 M6 x 1 x 9.7 DP 8.9 1.6 4.8 8.7 1.4 M8 4.8 4.6 7.9 17. 1/8 BSP 19.1 1.7 11.6 7. NOTES: 1) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN ) *EE DIMENSION IS TO BUSHING BLOCK MTG. SCREWS. 18 1.1 7. 8.47. 7. 1.44.4 1. /8-16 x.44 DP 1..87.74. 1.7 /16-18 x.44 DP.6.87.7 4.7.1 /8. 1.86.781.88 1/8 NPT.97.9...7 18. 18.4 1.1 76. 177.8 6.6 1.9.4 M1 x 1. x 11. DP.4 71.8 69.6 1.7 44. M8 x 1. x 11. DP 9.1. 6. 1.7 14. M1.9 47. 7.6.4 1/8 BSP.8 1.1 1. 19.7 69.9 19 1.8 9.98 11.7 4. 9..19.46 1. 1/-1 x.6 DP 1..811.68..7 /8-16 x.6 DP 4.7.11. 6. 7.1 1/..4 4.1 1. 1/4 NPT 1.6.76. 7..96 19 4.8. 96.9 11.6 41..6 11.7 8.1 M1 x 1.7 x 14. DP 8.1 96.8 9. 1.7 69.9 M1 x 1. x 14. DP 1.7. 8.6 16.1 191. M1 76. 61. 1.4 6.7 1/4 BSP 41. 19. 1. 19. 1. A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. 4X G THREAD EACH JAW F E AA F Z B D H C L CC GG GRIPPER JAWS: SHOWN AT MID-STROKE C X BB PORT FROM OPPOSITE SIDE DD - www.phdc.com/grd All dimensions are reference only unless specifically toleranced.
ENGINEERING DATA: SERIES PARALLEL OVAL GRIPPERS SPECIFICATIONS GF GF Sf LIGHT SPRING Sf HEAVY SPRING GRIPPER DISPLACEMENT EXTERNAL GRIP INTERNAL GRIP FORCE PRELOAD FORCE PRELOAD NO. cm IMPERIAL METRIC IMPERIAL METRIC IMPERIAL METRIC IMPERIAL METRIC 16x.7 1. 1.47 9. 1.6 19. 7. 11. 8. 17. 17x.8 4.. 194..7 11... 8. 77.6 18x 6.9 99.8.61 6..9 81. 88. 91. 14. 647. 19x 16.8 7.6 11.6 76. 11.7 78. 19. 76. 4. 17. TOOLING LENGTH FAC TOR 1.9.8.7.6. CHART A 16x 17x 18x, 19x 1 4 6 7 8 9 [] [1] [76] [1] [17] [1] [178] [] [4] DISTANCE FROM FACE OF COVER [] 1 [4] UNIT WEIGHT SPRING ASSIST GRIPPER STANDARD LIGHT HEAVY NO. lb kg lb kg lb kg 16x.1 1.41. 1.4. 1.44 17x 7..18 7..4 7..4 18x 14. 6. 14.4 6. 14.6 6.64 19x 7. 16.78 8.7 17.7 9.1 17.7 NOTE: Maximum load that grippers can handle will vary based on: Size of part beg picked up, shape of part, texture of part, speed at which part is transferred, workg pressure, shape of fgers, etc. PHD recoends that the fgers of jaws be tooled or mached to conform to the shape of the part beg gripped. DOUBLE ACTING Without Sprgs SINGLE ACTING With Sprg Close or Sprg Open DOUBLE ACTING With Sprg Assist Close or Open A A PNEUMATIC FORCE PNEUMATIC FORCE SPRING FORCE PNEUMATIC FORCE SPRING FORCE PNEUMATIC FORCE SPRING FORCE SPRING FORCE + + CONVENTIONAL AREA PNEUMATIC FORCE PNEUMATIC FORCE PNEUMATIC FORCE PNEUMATIC FORCE SECTION A-A TYPICAL Guards agast failure due to unforeseen pneumatic pressure loss. Provides up to four times the grippg force of conventional grippers of the same size. GRIP FORCE EQUATIONS: 1. All Grippers are double actg.. To calculate grip force on units without sprgs, complete the appropriate equation, but leave out the Sprg Force (Sf). Force (lb) = Pressure (psi) x GF x Toolg Length Factor Force (lb) = [[Pressure (psi) x GF] + Sf] x Toolg Length Factor Force [N] = [[Pressure (bar) x GF] + Sf] x Toolg Length Factor Subtract Sf if the sprgs are workg agast applied pressure. Force [N] = Pressure [bar] x GF x Toolg Length Factor FORCE (lb) = [[PRESSURE (psi) x GF] Sf] x Toolg Length Factor. To calculate grip force on units with sprgs, complete the appropriate equation, cludg Sf. Add Sf if the sprgs are workg with applied pressure. FORCE [N] = [[PRESSURE (bar) x GF] Sf] x Toolg Length Factor www.phdc.com/grd -
ENGINEERING DATA: SERIES PARALLEL OVAL GRIPPERS SEALS AND FLUIDS Buna-N seals are standard on all Series gripper piston, rod, and bushg seals. Piston and rod seals are quad type seals. These seals are compatible with standard paraff-based hydraulic fluids used for lubrication of air cylders or as power source for hydraulic actuators. Fluoro-Elastomer seals place of the Buna-N are optional for various types of hydraulic fluids or for temperatures up to 4 F [ C]. TEMPERATURE LIMITS Seals and grippg mechanism are designed for use temperatures from to 18 F [ to 8 C]. BACKLASH Backlash of gripper jaw will be less than.4 ch [.1 ] parallel to jaw travel. Side play.7 ch [.18 ] maximum with jaws at closed A dimension. REPEATABILITY Grip repeatability is with. ch [. ] of origal centered position. LIFE EXPECTANCY Five million trouble-free cycles can be expected under normal workg conditions. Life can be extended by relubricatg jaw bushg block after five million cycles. Backlash after five million cycles should be no more than.1 ch [. ] per jaw. MATERIAL Gripper body is made of hardcoated alumum. Jaw housgs are anodized alumum and the jaws and ternal jaw mechanisms are manufactured from hardened alloy steel. SPECIAL UNITS For grippers for special applications, severe duty, or special material, consult PHD. 7 HALL EFFECT MAGNET Equips piston with magnet and T slot on body for Series 6 Switches. -4 www.phdc.com/grd
NOTES www.phdc.com/grd -
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES GRC PARALLEL GRIPPERS TO ORDER SPECIFY: Product Type, Series, Type, Style, Bore Size, Options, Design No., and Seals. PRODUCT TYPE G - Gripper SERIES R - Regular Duty TYPE C - Rotary Parallel SIZE - 1. ( ) Bore 4-1. (4 ) Bore -. ( ) Bore 6 -. (7 ) Bore DESIGN NO. OPTIONS SEALS 1 - Buna-N - Fluoro-Elastomer (See Note 1.) G R C 1 1 - - 1 NOTES: 1) When orderg Fluoro-Elastomer seals, consult PHD for life expectancy. ) Available on full mountg style only. ) See Switch Mountg Kits on pages -49 and -. 4) See Switches and Sensors section for switch formation. ) Sprg Assist Open option not available with - or - sensor options. GRIPPER MODEL NO. GRCxx GRCx4x, x, 6x IMPERIAL 1 - Full Mountg - Full Mountg Corrosion Resistant - Bottom Mount 4 - Bottom Mount Corrosion Resistant STYLE INTERNAL PROXIMITY SWITCHES PROXIMITY SWITCH MODEL NO. 184-1- 184-- 14-- 14-6- METRIC - Full Mountg 6 - Full Mountg Corrosion Resistant 7 - Bottom Mount 8 - Bottom Mount Corrosion Resistant DESCRIPTION 4 Round NPN (Sk) 4 Round PNP (Source) 8 Threaded NPN (Sk) 8 Threaded PNP (Source) MODEL/JAW OPTION 1 - Standard, Raised Jaw - SHURGRIP, Raised Jaw - Standard, Flat Jaw 4 - SHURGRIP, Flat Jaw SERIES 6 MINIATURE HALL EFFECT SWITCHES PART NO. DESCRIPTION 6-1- 64-1- 6-1 64-1 NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect CORDSETS (For Series 6 Switches with Quick Connect) PART NO. DESCRIPTION 17-- 17-- SENSOR OPTION - None - Hall Effect Switch Ready (For Series 6 Switches) - Reed Switch Ready (For Series 6 Switches) - Internal Proximity Switch Ready SHURGRIP only (See Note.) 6-1 External Proximity Switch Ready (See Note &.) Switches must be ordered separately. See pages -49 and - for details. meter Cordset with Quick Connect meter Cordset with Quick Connect SERIES 6 REED SWITCH PART NO. DESCRIPTION 6-1- NPN (Sk) or PNP (Source) 4.-4 VDC 1 PROXIMITY SWITCH AND NUT PART NO. DESCRIPTION 161-1 161-161- SPRING OPTION - None MEDIUM DUTY - Sprg Assist Closed 4 - Sprg Assist Open HEAVY DUTY - Sprg Assist Closed 6 - Sprg Assist Open (See Notes and.) NPN (Sk) 4 VDC PNP (Source) 4 VDC AC 117 VAC CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. N EED T O FIT -6 www.phdc.com/grc
BENEFITS: SERIES GRC PARALLEL GRIPPERS BENEFITS Available four sizes with two jaw and body styles for maximum application versatility. High grip force to weight ratio for efficient use of space and power. True parallel jaw travel with no arcg motion for easy toolg design. Double-actg for either ternal or external grippg applications. Optional sprg assist can be specified to obta maximum grippg force. Close tolerance jaw mechanism elimates jaw play. Use of dowel p holes and/or male keys provides precise positiong of toolg. Rugged jaw and body construction can withstand high impact and shock loads. Reed, Hall or Proximity Switches are available for dication of jaw position and easy terfacg to a system controller. Internal jaw mechanism is constructed of hardened steel components and is enclosed for a mimum life of 1 million trouble-free cycles. SHURGRIP version available for restrag jaw movement and retag the part upon loss of air pressure. Licensed under U.S. Patent Number 476881. SHURGRIP available with enclosed proximity switches to prevent false signals applications where metal chips are present. SHURGRIP available with a manual operator located on the bottom of the unit to allow the jaws to be opened and closed without air pressure for easy set up and adjustment of toolg. U.S. Patent No. 476881 SPECIFICATIONS SERIES GRC WORKING PRESSURE 4 psi M. - 1 psi Max. [ bar M. - 7 bar Max.] BODY Hardcoated Alumum JAWS Hardened Alloy Steel SEALS Quad Type and O-rgs LUBRICATION Permanent for Non-Lube Air MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS MODEL NO. GRCxx GRCx4x GRCxx GRCx6x Fa lb N 89 1 916 178 7917 987 OPEN Mx -lb 1 7 1 Nm 1 4 8 7 CLOSE Mx -lb Nm 17 4 1 9 17 7 -lb 6 11 My Nm 9 6 14 4 -lb 17 6 Mz Nm 19 4 9 68 Fa: Total for both jaws Mx: Per jaw, with moments from cover surface My: Per jaw, with moments from center of gripper Mz: Per jaw, with moments from cover surface COVER SURFACE Fa Mz Mx My www.phdc.com/grc -7
DIMENSIONS: STANDARD SERIES GRC PARALLEL GRIPPERS FULL MOUNTING STYLE GRC1xx GRCxx GRCxx GRC6xx F1 R1 S T C P SQUARE X N THREAD 4X Q THREAD 4 B X K DOWEL PIN HOLE SLOT FOR OPTIONAL HALL EFFECT OR REED SWITCH X D PORT W 4X Y THREAD EACH END** G 1 F OPEN CLOSE H R X U F1 R1 FLAT JAW 6 X THRU AND C'BORE FOR M SHCS N THREAD FROM OPPOSITE SIDE E J L A RAISED JAW X Ø K DOWEL PIN HOLE FROM OPPOSITE SIDE CLEARANCE Ø FROM THIS SIDE BOTTOM MOUNTING STYLE GRCxx GRC4xx GRC7xx GRC8xx C P SQUARE 4X Q THREAD UNITS ARE SHOWN WITH 1 FLAT AND 1 RAISED JAW. UNITS ARE AVAILABLE ONLY WITH FLAT OR RAISED JAWS. **NOT RECOMMENDED FOR GRIPPER MOUNTING UNLESS BOTH ENDS ARE USED. CIRCLED NUMBERS INDICATE SURFACE POSITIONS. 4 B SLOT FOR OPTIONAL HALL EFFECT OR REED SWITCH X D PORT G 1 F OPEN CLOSE H R U FLAT JAW 6 E RAISED JAW A -8 www.phdc.com/grc All dimensions are reference only unless specifically toleranced.
DIMENSIONS: STANDARD SERIES GRC PARALLEL GRIPPERS LETTER DIM. NOMINAL JAW TRAVEL A CLOSED A OPEN B C D E G H J* K* L M N P* Q S T U W X Y F1 F F* F4 F F6* F7 F8 F1 F11 F1 F1 F14 F1 R1 R R R4 R R6* R7 R8* R9* R1* R11 R1 R14 R1 NOTES: 1. GRCxx 4.71.6 1.7 4.7 1-.4.6.91 1.64.1884 x. DP.9 #1 1/4- x.47 DP 1.181 1-4 x.8 DP 1.614.6.6 1.16 1.78 M4 x.7 x. DP.41.84.1.4.79.1884 1-4 1.1.91.94.184.1.7.6.788.67.1.4.79.19 x. DP 1-4 x.8 DP 1.1.9.96.94.7.11.976. 119.7 14.6 4. 116. M x.8 9. 16.. 4.. x 6. 7. M M6 x 1. x 1 DP. M x.8 x 9. DP 41. 16. 6. 9.. M4 x.7 x 8. DP 1. 8. 14. 9. 18.. M x.8 8. 1..7 4.7. 7. 1.. 67. 14. 9. 18. 4. x 6. DP M x.8 x 9. DP 8. 7. 1..7 14.. 4.7 1. 6. 7.7.46 6.4 1/8 NPT.4.8 1.99.441.1884 x.1 DP 4.16 1/4 /16-18 x.6 1.47 1/4- x..16.86.7 1.496 1.99 M x.8 x. DP..18.61.94.788.9 1/4-1..886 1.84.8.1..68 1.7.47.61.94.788.1884 x. DP 1/4- x. DP 1..1.888 1.84.71.1 1.14 MODEL NO. GRCx4x GRCxx GRCx6x 9 18. 19.8. 1. 1/8 BSP 9. 1.. 6.. X 8. 1. M6 M8 X 1. x 16. DP 7. M6 x 1. x 1. DP. 1. 8. 8. 49. M x.8 x 9. DP 14. 76.7 1. 1.. 6. M6 x 1. 1... 6.. 9. 17.. 88. 1. 1... x 8. DP M6 x 1. x 1. DP 1. 14... 18.. 8.7. 7. 9.49.68 7. 1/8 NPT.1 1.4 1..1.9 x. DP.9 /16 /8-16 x.7 DP 1.968 /16-18 x.6 DP.678 1.6 4.148.8.44 M6 x 1. x.411 DP.671.696.768.49.984.14 /16-18 1. 1.1 1.748.17.1.41.94 1.1 4.46.768.49.984.9 x.7 DP /16-18 x.6 DP 1..786 1.1 1.748.866.98 1. 1 191.7 41. 67. 186. 1/8 BSP 14.. 9. 8. 6. x 9. DP 1. M8 M1 x 1. x 19.. M8 x 1. x 16. DP 68. 7. 1. 1. 7. M6 x 1. x 1. DP 17. 94. 19. 1.. 8. M8 x 1. 9. 8. 44. 8.. 11. 4. 1. 18. 19. 1.. 6. x 9. DP M8 x 1. x 16. DP 9. 18. 8. 44... 8. 1) NUMBERS IN [ ] ARE IN MILLIMETERS ) *TOLERANCE FOR DIMENSIONS: J = ±.1 [±.] K = ±. [±.1] P (BETWEEN DOWEL PIN HOLES) = ±.8 [±.] F6 AND R6 = ±. [±.1] F, R9, AND R1 = ±.1 [±.] R8 = ±. [±.1].7 1.4 1..96 1.8 1/4 NPT 1..9 4.74.79 x.4 DP 7.874 /8 1/-1 x 1. DP.99 /8-16 x.7 DP.74 1.89.767.71.71 M8 x 1. x.6 DP.984.16 1..689 1.78.9 /8-16.47 1.968.8.46..611 1.41 1.71.88 1..689 1.78.79 x.6 DP /8-16 x.787 DP.47 1.99 1.968.8 1.16.118.14 78 6.7 9. 1. 6. 1/4 BSP 6. 6. 1. 1. x 1. DP. M1 M14 x. x 8. DP 76. M1 x 1. x 19. 9. 48. 146. 78. 78. M8 x 1. x 16. DP. 11. 6. 17.. 1. M1 x 1... 7. 11. 6. 1. 6. 4. 149. 6. 17.. 1. X 14. M1 x 1. x. DP... 7. 9.. 4. A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. FLAT JAW DETAIL RAISED JAW DETAIL F F1 R R1 R1 F14 F1 F1 CLEARANCE FOR TOOLING MOUNTING SCREWS F1 MAX RECOMMENDED TOOLING DIMENSION F4 F A R14 A R8 R R4 F11 R9 R1 R11 F8 MAX RECOMMENDED TOOLING DIMENSION F X F7 THREAD THRU EACH JAW F6 DOWEL PIN HOLE THRU EACH JAW All dimensions are reference only unless specifically toleranced. X R7 THREAD EACH JAW X R6 DOWEL PIN HOLE EACH JAW R www.phdc.com/grc -9
DIMENSIONS: SHURGRIP SERIES GRC PARALLEL GRIPPERS FULL MOUNTING STYLE GRC1xx GRCxx GRCxx GRC6xx F1 R1 S T C P SQUARE X N THREAD 4X Q THREAD 4 B HEX FOR MANUAL JAW OPERATION (SEE PAGE -9 FOR HEX SIZES) SLOT FOR OPTIONAL HALL EFFECT OR REED SWITCH X K DOWEL PIN HOLE X D PORT W 4X Y THREAD EACH END** G 1 F OPEN CLOSE H R X U F1 E R1 FLAT JAW BOTTOM MOUNTING STYLE GRCxx GRC4xx GRC7xx GRC8xx 6 X THRU AND C'BORE FOR M SHCS N THREAD FROM OPPOSITE SIDE E J L A C P SQUARE 4X Q THREAD 4 RAISED JAW X Ø K DOWEL PIN HOLE FROM OPPOSITE SIDE CLEARANCE Ø FROM THIS SIDE UNITS ARE SHOWN WITH 1 FLAT AND 1 RAISED JAW. UNITS ARE AVAILABLE ONLY WITH FLAT OR RAISED JAWS. **NOT RECOMMENDED FOR GRIPPER MOUNTING UNLESS BOTH ENDS ARE USED. CIRCLED NUMBERS INDICATE SURFACE POSITIONS. B SLOT FOR OPTIONAL HALL EFFECT OR REED SWITCH HEX FOR MANUAL JAW OPERATION X D PORT G 1 F OPEN CLOSE H R U FLAT JAW 6 E A RAISED JAW -4 www.phdc.com/grc All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SHURGRIP SERIES GRC PARALLEL GRIPPERS LETTER DIM NOMINAL JAW TRAVEL A CLOSED A OPEN B C D E G H J* K* L M N P* Q S T U W X Y F1 F F* F4 F F6* F7 F8 F1 F11 F1 F1 F14 F1 R1 R R R4 R R6* R7 R8* R9* R1* R11 R1 R14 R1 1. GRCxx 4.71.6 1.7 4.7 1-.4.6.91 1.64.1884 x. DP.9 #1 1/4- x.47 DP 1.181 1-4 x.8 DP 1.614.6. 1.16 1.78 M4 x.7 x. DP 1.18.1.1.4.79.1884 1-4 1.1.91.94.184.1.7 1.7 1..44.1.4.79.19 x. DP 1-4 x.8 DP 1.1.9.96.94.7.11 1.74. 119.7 14.6 4. 116. M x.8 9. 16.. 4.. x 6. 7. M M6 x 1. x 1 DP. M x.8 x 9. DP 41. 16. 84. 9.. M4 x.7 x 8. DP. 77. 14. 9. 18.. M x.8 8. 1..7 4.7. 7.. 9. 87. 14. 9. 18. 4. x 6. DP M x.8 x 9. DP 8. 7. 1..7 14.. 44. 1. 6. 7.7.46 6.4 1/8 NPT.4.8 1.99.441.1884 x.1 DP 4.16 1/4 /16-18 x.6 1.47 1/4- x..16.86 4.4 1.496 1.99 M x.8 x. DP 1.617 4.8.61.94.788.9 1/4-1..886 1.84.8.1. 1.74.68 4..61.94.788.1884 x. DP 1/4- x. DP 1..1.888 1.84.71.1.19 MODEL NO. GRCx4x GRCxx GRCx6x 9 18. 19.8. 1. 1/8 BSP 9. 1.. 6.. X 8. 1. M6 M8 X 1. x 16. DP 7. M6 x 1. x 1. DP. 1. 11. 8. 49. M x.8 x 9. DP 41. 1. 1. 1.. 6. M6 x 1. 1... 6.. 9. 44.. 11. 1. 1... x 8. DP M6 x 1. x 1. DP 1. 14... 18...7. 7. 9.49.68 7. 1/8 NPT.1 1.4 1..1.9 x. DP.9 /16 /8-16 x.7 DP 1.968 /16-18 x.6 DP.678 1.6.64.8.44 M6 x 1. x.411 DP.17.1.768.49.984.14 /16-18 1. 1.1 1.748.17.1.41.41.667.7.768.49.984.9 x.7 DP /16-18 x.6 DP 1..786 1.1 1.748.866.98.98 1 191.7 41. 67. 186. 1/8 BSP 14.. 9. 8. 6. x 9. DP 1. M8 M1 x 1. x 19.. M8 x 1. x 16. DP 68. 7. 14. 1. 7. M6 x 1. x 1. DP 4. 11. 19. 1.. 8. M8 x 1. 9. 8. 44. 8.. 11. 61. 68. 14. 19. 1.. 6. x 9. DP M8 x 1. x 16. DP 9. 18. 8. 44... 7..7 1.4 1..96 1.8 1/4 NPT 1..9 4.74.79 x.4 DP 7.874 /8 1/-1 x 1. DP.99 /8-16 x.7 DP.74 1.89 7.7.71.71 M8 x 1. x.6 DP.9 7.14 1..689 1.78.9 /8-16.47 1.968.8.46..611.8.681 7.8 1..689 1.78.79 x.6 DP /8-16 x.787 DP.47 1.99 1.968.8 1.16.118 4.111 NOTES: 1) NUMBERS IN [ ] ARE IN MILLIMETERS ) *TOLERANCE FOR DIMENSIONS: J = ±.1 [±.] K = ±. [±.1] P (BETWEEN DOWEL PIN HOLES) = ±.8 [±.] F6 AND R6 = ±. [±.1] F, R9, AND R1 = ±.1 [±.] R8 = ±. [±.1] A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION. A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION. FLAT JAW DETAIL RAISED JAW DETAIL 78 6.7 9. 1. 6. 1/4 BSP 6. 6. 1. 1. x 1. DP. M1 M14 x. x 8. DP 76. M1 x 1. x 19. 9. 48. 196. 78. 78. M8 x 1. x 16. DP 7. 181. 6. 17.. 1. M1 x 1... 7. 11.. 6. 1. 86. 9. 199. 6. 17.. 1. x 14. M1 x 1. x. DP... 7. 9.. 14. F F1 F1 R1 R F14 R14 R1 F1 CLEARANCE FOR TOOLING MOUNTING SCREWS F1 MAX RECOMMENDED TOOLING DIMENSION F4 F A A X R6 DOWEL PIN HOLE EACH JAW R R4 F11 R9 R1 R11 F8 MAX RECOMMENDED TOOLING DIMENSION F X F7 THREAD THRU EACH JAW X R7 THREAD EACH JAW F6 DOWEL PIN HOLE THRU EACH JAW R R8 All dimensions are reference only unless specifically toleranced. www.phdc.com/grc -41
GRIP FORCE GRAPHS: SERIES GRCx PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg force shown is relation to toolg length at 87 psi [6 bar] actuatg pressure. Forces should be multiplied by the jaw position factor shown on page -46 for an accurate grip force calculation. PART TOOLING LENGTH 16 [71] GRCx1--xxxx & GRCx--xxxx STANDARD CLOSE 16 [71] GRCx1--xxxx & GRCx--xxxx STANDARD OPEN 14 [6] 14 [6] TOTAL GRIP FORCE lb [N] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY TOTAL GRIP FORCE lb [N] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY 1 [] [1] TOOLING LENGTH ches [] [76] 4 [1] 1 [] [1] TOOLING LENGTH ches [] [76] 14 [6] GRCx--xxxx & GRCx4--xxxx SHURGRIP CLOSE 14 [6] GRCx--xxxx & GRCx4--xxxx SHURGRIP OPEN TOTAL GRIP FORCE lb [N] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [89] MEDIUM SPRING ONLY [89] MEDIUM SPRING ONLY 1 [] [1] TOOLING LENGTH ches [] [76] 4 [1] 1 [] [1] TOOLING LENGTH ches [] [76] -4 www.phdc.com/grc
GRIP FORCE GRAPHS: SERIES GRCx4 PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg force shown is relation to toolg length at 87 psi [6 bar] actuatg pressure. Forces should be multiplied by the jaw position factor shown on page -46 for an accurate grip force calculation. PART TOOLING LENGTH [17] GRCx41--xxxx & GRCx4--xxxx STANDARD CLOSE [17] GRCx41--xxxx & GRCx4--xxxx STANDARD OPEN TOTAL GRIP FORCE lb [N] [14] [111] [89] 1 [667] 1 [44] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] [14] [111] [89] 1 [667] 1 [44] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [] MEDIUM SPRING ONLY [] MEDIUM SPRING ONLY 1 [] [1] [76] TOOLING LENGTH ches [] 4 [1] [17] 1 [] [1] TOOLING LENGTH ches [] [76] 4 [1] TOTAL GRIP FORCE lb [N] [14] [111] [89] 1 [667] 1 [44] [] GRCx4--xxxx & GRCx44--xxxx SHURGRIP CLOSE AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY TOTAL GRIP FORCE lb [N] [14] [111] [89] 1 [667] 1 [44] [] GRCx4--xxxx & GRCx44--xxxx SHURGRIP OPEN AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY 1 [] [1] [76] TOOLING LENGTH ches [] 4 [1] [17] 1 [] [1] TOOLING LENGTH ches [] [76] 4 [1] www.phdc.com/grc -4
GRIP FORCE GRAPHS: SERIES GRCx PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg force shown is relation to toolg length at 87 psi [6 bar] actuatg pressure. Forces should be multiplied by the jaw position factor shown on page -46 for an accurate grip force calculation. PART TOOLING LENGTH TOTAL GRIP FORCE lb [N] 6 [668] [4] 4 [1779] [14] [89] GRCx1--xxxx & GRCx--xxxx STANDARD CLOSE AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 6 [668] [4] 4 [1779] [14] [89] GRCx1--xxxx & GRCx--xxxx STANDARD OPEN AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY 1 [44] MEDIUM SPRING ONLY 1 [44] MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] TOOLING LENGTH ches [] [17] 6 [1] 1 [] [1] [76] TOOLING LENGTH ches [] 4 [1] [17] TOTAL GRIP FORCE lb [N] [4] 4 [1779] [14] [89] 1 [44] GRCx--xxxx & GRCx4--xxxx SHURGRIP CLOSE AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY TOTAL GRIP FORCE lb [N] [4] 4 [1779] [14] [89] 1 [44] GRCx--xxxx & GRCx4--xxxx SHURGRIP OPEN AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] TOOLING LENGTH ches [] [17] 6 [1] 1 [] [1] [76] TOOLING LENGTH ches [] 4 [1] [17] -44 www.phdc.com/grc
GRIP FORCE GRAPHS: SERIES GRCx6 PARALLEL GRIPPERS Grippg forces are the arithmetic sum of the forces applied by both jaws. Grippg force shown is relation to toolg length at 87 psi [6 bar] actuatg pressure. Forces should be multiplied by the jaw position factor shown on page -46 for an accurate grip force calculation. PART TOOLING LENGTH 14 [67] GRCx61--xxxx & GRCx6--xxxx STANDARD CLOSE 14 [67] GRCx61--xxxx & GRCx6--xxxx STANDARD OPEN TOTAL GRIP FORCE lb [N] 1 [8] 1 [4448] 8 [8] 6 [668] 4 [1779] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY TOTAL GRIP FORCE lb [N] 1 [8] 1 [4448] 8 [8] 6 [668] 4 [1779] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY [89] MEDIUM SPRING ONLY [89] MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] [17] 6 [1] 7 [178] TOOLING LENGTH ches [] 8 [] 9 [9] 1 [4] 1 [] [1] [76] 4 [1] TOOLING LENGTH ches [] [17] 6 [1] 1 [4448] GRCx6--xxxx & GRCx64--xxxx SHURGRIP CLOSE 1 [4448] GRCx6--xxxx & GRCx64--xxxx SHURGRIP OPEN TOTAL GRIP FORCE lb [N] 8 [8] 6 [668] 4 [1779] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY TOTAL GRIP FORCE lb [N] 8 [8] 6 [668] 4 [1779] [89] AIR WITH HEAVY SPRING AIR WITH MEDIUM SPRING AIR ONLY HEAVY SPRING ONLY MEDIUM SPRING ONLY 1 [] [1] [76] 4 [1] [17] 6 [1] 7 [178] TOOLING LENGTH ches [] 8 [] 9 [9] 1 [4] 1 [] [1] [76] 4 [1] TOOLING LENGTH ches [] [17] 6 [1] www.phdc.com/grc -4
ENGINEERING DATA: SERIES GRC PARALLEL GRIPPERS GRIPPER NO. GRCx1 & GRCx & 4 GRCx41 & 4 GRCx4 & 44 GRCx1 & GRCx & 4 GRCx61 & 6 GRCx6 & 64 MIN. TOTAL JAW TRAVEL.94.94 1.47 1.47 1.94 1.94.1.1 4 4 7. 7. 49. 49. 76. 76. TOTAL GRIP FORCE AT 87 psi [6 bar] lb N 96 47 8 69 9 9 178 79 8 174 18 1414 87 87 69 79 GRIPPER WEIGHT (FLAT JAWS) lb kg 1.68.76. 1..98 1.81.4.4 7.. 1. 4.77.47 9.8 8. 1.79 SPECIFICATIONS WEIGHT ADDER (RAISED JAWS) lb kg.1.6.1.6..1..1.4..4. 1.4.6 1.4.6 CLOSE OR OPEN TIME 87 psi [6 bar] sec.6.6.8.8.... MINIMUM OPERATING PRESSURE psi bar 6. 6. 6. 6. DISPLACE- MENT cm.8 1..8 1..77 4..77 4. 6.8 18. 6.8 18.. 64.. 64. GRIP FORCE FACTOR (GF) IMPERIAL 1.1.9.4. 4.4.6 1 7 METRIC 71.1 61.4 1. 1.6 84. 6. 646.7 4.7 GRIPPER NO. GRCx1 & GRCx & 4 GRCx41 & 4 GRCx4 & 44 GRCx1 & GRCx & 4 GRCx61 & 6 GRCx6 & 64 SPRING FORCE (SF) lb N 1 7 44 196 11 489 9 414 4 97 17 76 46 68 14 WEIGHT ADDER lb kg.67..67. 1.69.8 1.69.8.48 1.6.48 1.6 9. 4. 9. 4. HEAVY SPRING MINIMUM OPERATING PRESSURE psi bar 7 8. 7 8. 7 8. 7 8. CLOSE OR OPEN TIME 87 psi [6 bar] seconds AGAINST SPRING.1.1.16.16.... WITH SPRING...6.6.1.1.. SPRING ONLY.8.8.1.1.... SPRING FORCE (SF) lb N 16 1 78 47 66 94 14 6 117 1 188 1 96 WEIGHT ADDER lb.6.6 1.4 1.4.88.88 7.81 7.81 kg.7.7.6.6 1.1 1.1.4.4 MEDIUM SPRING MINIMUM OPERATING PRESSURE psi bar 6 4 6 4. 6 4 6 4. 6 4 6 4. 6 4 6 4. CLOSE OR OPEN TIME 87 psi [6 bar] seconds AGAINST SPRING.8.8.1.1...4.4 WITH SPRING...7.7.... SPRING ONLY.1.1.14.14.... CHART A The Series GRC Gripper mechanism creases grippg force as the jaws move away from midposition towards open or closed position. Toolg can be designed to take advantage of the higher forces available when the jaws are close to the end positions. The chart below shows how force creases as the jaws move toward the end positions. The grip forces shown on pages -4 to -4 should be multiplied by the jaw position factor for an accurate grip force calculation. 1.8 JAW POSITION FACTOR BASED ON DIMENSION A ACROSS GRIPPER JAWS JAW POSITION FACTOR 1.6 1.4 1. A 1. GRIPPER MODEL GRCx1 & GRCx & 4 GRCx41 & 4 GRCx4 & 44 GRCx1 & GRCx & 4 GRCx61 & 6 GRCx6 & 64 4.68 [119.] 6. [17.] 7. 4.78 [11.] 6.4 [161.4] 7.7 [191.] [196.1] 1.1 1.6 [6.] [69.8] 4.88 [14.1] 6.7 DIMENSION A ches [] 4.98.8.18.8.8 [16.6] [19.] [11.7] [14.] [16.8] 6.66 6.814 6.967 7.1 7.74.48 [19.4] 7.47.8 [141.9] 7.81.68 [144.] 7.7 [16.] [169.] [17.1] [177.] [18.9] [184.8] [188.7] [19.6] [196.4] 7.9 8.1 8. 8. 8.7 8.9 9.1 9. 9. [1.] [6.] [11.4] [16.] [1.6] [6.7] [1.8] [6.9] [4.] 1.99 11.6 11.4 11.8 1.17 1.464 1.771 1.78 1.8 [77.6] [8.4] [9.] [1.] [8.8] [16.6] [4.4] [.] [4.] -46 www.phdc.com/grc All dimensions are reference only unless specifically toleranced.
ENGINEERING DATA: SERIES GRC PARALLEL GRIPPERS CHART B Design toolg so that the grip pot is as close to the cover surface as possible. When the grip pot moves away, jaw friction creases, which decreases grip force. The GF formation given on page -46 is for zero toolg length (cover surface). The chart shows how force decreases as the grip pot moves away from the cover surface. The deratg figures and maximum toolg lengths are cluded the graphs on pages -4 to -4. PART DISTANCE FROM COVER SURFACE DERATING FACTOR 1..9.8.7.6..4...1 TOOLING LENGTH FACTOR 1 [] [1] GRCxx GRCx4x [76] 4 [1] [17] GRCx6x GRCxx 6 [1] 7 [178] TOOLING LENGTH ches [] 8 [] 9 [9] 1 [4] GRIPPER CALCULATION EXAMPLE TOTAL FORCE (lb) = [Pressure (psi) x GF] x Jaw Position Factor x Toolg Length Factor TOTAL FORCE WITH SPRINGS (lb) = [(Pressure (psi) x GF) ± SF] x Jaw Position Factor x Toolg Length Factor GRC141--1 Operatg Pressure = 8 psi Fd Grip Force GF =.4 (From Specifications) Fd jaw position factor 1. (See Chart A) Fd toolg length factor of.68 (See Chart B).4 x 8 psi = 19 lb 19 lb x 1. x.68 = 169.7 lb Total Grip Force 6. COVER SURFACE GRC141--1 Sprg assist close, medium sprgs Fd Sprg Force SF = 78 (From Specifications) (All other data is the same.) (.4 x 8 psi) + 78 = 7 lb 7 lb x 1. x.68 = 8.7 lb Total Grip Force SEALS AND FLUIDS Buna-N seals are standard on all Series GRC Parallel Grippers. Piston seals are quad type and pion shaft seals are O-rgs. Both are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For higher temperatures, consult PHD. INTERNAL SPRINGS Internal sprgs are tended to assist the gripper and add grip force one direction. They can be used to open or close the gripper without pneumatic pressure or to mata sprg grip force if pressure is lost. Sprg life excess of 1 million cycles can be expected. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. LIFE EXPECTANCY All units with Buna-N seals have been tested to 1 million cycles with mimal seal wear and mimal backlash. Fluoro- Elastomer seals reduce life of product. Consult PHD. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service under normal conditions. MATERIAL Parallel gripper body is made of hardcoated alumum. Jaws and gripper mechanism are manufactured from hardened steel. REPEATABILITY Grip repeatability is with. ch [. ] of origal centered position. BACKLASH Jaw backlash the (A) direction will not exceed. [.6 ] per jaw. Total clearance between the parallel jaws and the body or cover will not exceed the followg figures: (B). ch [.6 ] (C).4 ch [.1 ] A B C www.phdc.com/grc -47
ENGINEERING DATA: SERIES GRC PARALLEL GRIPPERS FLAT JAW TOOLING Special attention should be paid to the distance the fasteners extend through the flat jaw. If they extend through more than G dimension and come contact with the body, damage to the gripper cover or jaw may occur. Toolg counterbores, fastener length and tolerances should be specified so that the fastener fully engages the jaw and nomally extends through. ch [1. ] with a tolerance of ±. ch [±.7 ]. This assures a distance of G dimension is never reached. The flat jaw provides two threads for mountg toolg and a precision hole closely located from the end of the jaw. Customers can key toolg usg the end of the jaw and precision hole to provide squareness and location. See pages -9 and -41 for maximum recoended toolg dimensions (dimensions F8 and F1). LETTER DIM. F1 G MIN.184.98 MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 4.7..8.1 6.6..17.1 8.1..46.4 11.1 6. NOTES: 1) MOUNTING SCREWS MUST PROTRUDE PAST BOTTOM OF JAW TO ENSURE MAXIMUM THREAD ENGAGEMENT ) MOUNTING SCREWS MUST NOT EXCEED RECOMMENDED DEPTH OF ENGAGEMENT OR COME IN CONTACT WITH BOTTOM OF BODY F1 G MIN. ±. [1. ±.7] SEE NOTE 1 & RAISED JAW TOOLING The boss on raised jaws (dimensions R8 and R1) are held to a close tolerance. These surfaces can be used as a means of orientg and precisely keyg the toolg to the gripper jaws. Dowel p holes the jaws can also be used for precise toolg location. See pages -9 and -41 for specific jaw dimensions. ON-CENTER TOOLING OFF-CENTER TOOLING R8 MAX R1 MAX R1 MAX DOWEL PIN HOLES R14.1 [.] R14.1 [.] -48 www.phdc.com/grc All dimensions are reference only unless specifically toleranced.
SENSOR OPTIONS & ACCESSORIES: SERIES GRC HALL EFFECT SWITCHES This option equips the gripper with magnets on the rack for use with PHD Series 6 Miature Hall Effect Switches. These switches mount easily to the gripper usg the T slot the side of the body. Hall Effect Switches are ordered separately. No mountg kit required. See Switches and Sensors section for switch specifications. H H H1 H PART NO. 6-1- 64-1- 6-1 64-1 DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect H4 LETTER DIM. H1 H H H4 H.99.8.4.. MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x. 1..7 8. 6. 1.7.8.4..6. 1..7 8. 67. 1.6.8.4.. 41. 1..7 8. 76..7.8.4..6 6. 1..7 8. 91. REED SWITCHES This option equips the gripper with magnets on the rack for use with PHD Series 6 Reed Switches and switch mountg kit 61. These switches mount easily to the gripper usg the T slot the side of the body. Reed Switches and mountg kits are ordered separately. RS RS1 RS6 RS4 HEX RS PART NO. 6-1- DESCRIPTION 8 Threaded Reed Switch with meter cable RS HEX LETTER DIM. Mtg Kit RS1 RS RS RS4 RS RS6 MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 61 61 61 61.99.866.1.1.6... 14. 1. 16. 6. 1.7.866.1.1.6.6.. 14. 1. 16. 67. 1.6.866.1.1.6. 41.. 14. 1. 16. 76..7.866.1.1.6.6 6.. 14. 1. 16. 91. EACH MOUNTING KIT CONTAINS: 1 BRACKET AND 1 NUT SPECIFICATIONS 6-1- OPERATING PRINCIPLE Magnetic Reed ACTUATED BY Target Magnet INPUT VOLTAGE 4. to 4 VDC OUTPUT TYPE Contact Closure POWER CAPACITY 1 Watt Max. CURRENT RATING. Amp Max. CONTACT RESISTANCE 11 MOhm Max. ENVIRONMENTAL IEC IP67 OPERATING TEMP. to 8 C WIRING SCHEMATICS MODEL NO. 6-1- - NPN (SINK) OR PNP (SOURCE) INPUT - 4.-4 VDC POWER CAPACITY - 1 WATT MAX. LOAD CURRENT -. AMP MAX. CABLED MODEL 6 - PNP (SOURCE) DC BROWN BLUE LOAD DC CABLED MODEL 6 - NPN (SINK) BROWN DC LOAD BLUE DC All dimensions are reference only unless specifically toleranced. www.phdc.com/grc -49
SENSOR OPTIONS & ACCESSORIES: SERIES GRC (SHURGRIP model only) This option equips the gripper for use with metal sensg proximity switches. The switch is serted to a cavity the housg and senses a steel p attached to the jaw. The slotted switch bracket allows the proximity switches to be adjusted to sense the jaw positions. The bracket covers the openg so contamants do not enter the cavity causg a false signal. Proximity Switches and mountg kit are ordered separately. See Switches and Sensors section for complete switch specifications. The lock housg is designed to accept the followg size proximity switches: GRCx 4 Round Smooth GRCx4 8 Threaded GRCx 8 Threaded GRCx6 8 Threaded PART NO. 184-1- 184-- 14-- 14-6- INTERNAL PROXIMITY SWITCH READY DESCRIPTION 4 Round NPN (Sk) 1- VDC, m cable 4 Round PNP (Source) - VDC, m cable 8 Threaded NPN (Sk) - VDC, m cable 8 Threaded PNP (Source) - VDC, m cable INSTALLATION Adjust switch ward until it touches steel p, then adjust outward. ch [. ] to set clear (do this with slide bracket place). Adjust bracket to left or right to set switch position. LETTER DIM. Mountg Kit P1 P P P4.6 [1.1 ] MAX SWITCH SENSING DISTANCE P4 P JAW CLOSED SENSING SIDE REFERENCE DIMENSIONS ARE APPROXIMATIONS ONLY. ACTUAL DIMENSIONS WILL BE BASED ON ACTUAL SENSING LOCATION. EACH PROXIMITY SWITCH MOUNTING KIT CONTAINS: SOCKET HEAD CAP SCREWS 1 PROXIMITY SWITCH BRACKET P P1 JAW OPEN SENSING SIDE MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 9-9-4 9-6 9-8 1.647.81.67.76 4.. 17. 14..67.4 1.78 1.4 7. 11. 7. 1..91 1. 1.47 1.4 7.. 1. 1..988 1.971 1.7 1.4 11.. 9. 1. 6 1 EXTERNAL PROXIMITY SWITCH READY (Full mountg style required) This option provides threaded mountg holes for mountg 1 metal sensg proximity switches. The customer is required to design and mount a metal target for the switch to sense. Proximity Switches and mountg kit are ordered separately. See Switches and Sensors section for complete switch specifications. PART NO. 161-1 161-161- DESCRIPTION NPN (Sk) 4 VDC PNP (Source) 4 VDC AC 117 VAC M4 SHCS LETTER DIM. Mountg Kit EP1 EP EP EP4 EP EP6 EP7 MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 61 61 61 61.81 1..4.97 1.476.1.647 1.. 11.. 7. 8. 16. 1.8 1..4.97.8.1.97.. 11.. 1. 8.. 1.6 1..4.97.18.1 1.9 9.. 11... 8. 4..11 1..4.97.97.1 1.4 84.. 11.. 1. 8.. EACH PROXIMITY SWITCH MOUNTING KIT CONTAINS: SOCKET HEAD CAP SCREWS 1 PROXIMITY SWITCH BRACKET EP6 EP4 EP7 EP M1 x 1. THREAD THRU EP EP X EP1 - www.phdc.com/grc All dimensions are reference only unless specifically toleranced.
SPRING OPTIONS: SERIES GRC PARALLEL GRIPPERS & 4 MEDIUM DUTY SPRING ASSIST & 6 HEAVY DUTY SPRING ASSIST S S4 S1 S8 S (Full mountg style required) Sprgs can mata sprg grip force if air pressure is lost or crease grip force one direction when used with air pressure. They can open or close the gripper without air pressure. Sprg life excess of 1 million cycles can be expected. For mimum operatg pressures and sprg forces, see specifications on page -46. LETTER DIM. S1 S S S4 S S6 S7 S8 MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 7.66.6 1.47 1.6.86 1.81.1.19 19. 6. 7. 9.. 46. 8.. 1.44.87 1.969.8.1.41.94.7 6. 9.7. 1.. 9. 1. 7.7 1.18.6..98.199.846.94.4. 9. 64. 66.. 7. 1. 1. 18.8.6.71.818.98.818.94.4 47. 9. 94. 97. 7. 97. 1. 1. S6 S7 HEX TO BE USED FOR SPRING REPLACEMENT OR GRIPPER MAINTENANCE ONLY WARNING: DO NOT REMOVE SPRING HOUSING BHCS Ø S 4 SHURGRIP VERSION (Licensed under U.S. Patent No. 476881) The SHURGRIP version of the PHD Series GRC Gripper is tended to mata a friction lock to restra jaw movement the event of loss or removal of air pressure. This is accomplished through the use of an ternal friction lock clutch. Repeated vibration or shock after loss or removal of air pressure may cause the jaws to open slightly. Care must be taken to design the toolg attached to the gripper jaws to encapsulate the part. The toolg should also have a slight sprg or deflection action to reta tension on the gripper mechanism. PHD is not responsible for lack of part retention resultg from improper toolg or matenance of the gripper. MANUAL JAW OPERATION (SHURGRIP ONLY) Rotatg the hex the rear of gripper moves jaws open or closed for easy switch setup and toolg adjustments without operatg the valve. HEX WRENCH (MANUAL OVERRIDE) WRENCH NOT SUPPLIED LETTER DIM. HEX SIZE / MODEL NUMBER GRCxx GRCx4x GRCxx GRCx6x 4. / 4. /16 8. /16 8. SHURGRIP TOOLING Care must be taken to design the toolg to encapsulate the part beg grasped. On SHURGRIP versions, the toolg should have a slight sprg or deflection action to reta tension on the gripper mechanism upon loss of air supply. PHD is not responsible for lack of part retention resultg from improper toolg or matenance of the gripper. All dimensions are reference only unless specifically toleranced. www.phdc.com/grc -1
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES GRT GRIPPERS TO ORDER, SPECIFY: Product Type, Series, Type, Style, Size, Jaw Style, Design No., Options, and Seals. PRODUCT TYPE G - Gripper TYPE T - Three jaw BORE SIZE 1-7 - 4-4 - 6-8 6-1 7-1 8-16 DESIGN NO. OPTIONS - None 1 - Part Ejector SEALS 1 - Buna-N - Fluoro-Elastomer MODEL NUMBER GRTx1 GRTx GRTx GRTx4 GRTx GRTx6 GRTx7 GRTx8 FINGER BLANKS KIT NUMBER IMPERIAL METRIC 689-1 689-689- 689-4 689-689-6 689-7 689-8 689-11 689-1 689-1 689-14 689-1 689-16 689-17 689-18 G R T 1 4-1 - 1 SERIES STYLE 1 - Imperial - Metric JAW STYLE - Standard travel SENSOR OPTIONS - None - Proximity switch ready (For ternal switches) SPRING OPTIONS - None HEAVY FORCE - Sprg assist closed 6 - Sprg assist open GRIPPER SIZE GRTx1,,, 4, & GRTx6, 7, & 8 INTERNAL PROXIMITY SWITCHES SWITCH DESCRIPTION 4 Round NPN (Sk) 4 Round PNP (Source) 8 Threaded NPN (Sk) 8 Threaded PNP (Source) PART NO. 184-1- 184-- 14-- 14-6- DIRECTION JAWS OPENING JAWS CLOSING GRTx1x 68-686- GRTxx 68-1 686-1 INTERNAL PROXIMITY SWITCH TARGET KITS KIT NUMBER GRTxx 68-686-1 GRTx4x 68-686- GRTxx 68-686- GRTx6x 68-686-4 Kit cludes: 1 Proximity Target, 1 Proximity Adjustment Screw, Target Adjustment Screws GRTx7x 68-4 686- GRIPPER SIZE GRTx1,,, 4, & GRTx6, 7, & 8 EXTERNAL PROXIMITY SWITCHES SWITCH DESCRIPTION 8 Threaded NPN (Sk) 8 Threaded PNP (Source) 1 Threaded NPN (Sk) 1 Threaded PNP (Source) 1 Threaded AC - VAC PART NO. 14-- 14-6- 161-1 161-161- GRTx1x 61-1 EXTERNAL PROXIMITY SWITCH MOUNTING BRACKETS KIT NUMBER GRTxx 61- GRTxx 61- GRTx4x 61-4 GRTxx 61- GRTx6x 61-6 GRTx7x 61-7 GRTx8x 61-8! Options may affect unit length. See unit dimension and options pages for adders. CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. GRTx8x 68-4 686- N EED T O FIT - www.phdc.com/grt
BENEFITS & SPECIFICATIONS: SERIES GRT GRIPPERS Three jaw design provides self-centerg and maximum contact between part and jaw toolg, makg these grippers ideal for high moment applications. Very low profile to grip force and jaw travel ratios are ideal for use confed work areas. Eight sizes are offered both imperial and metric versions for maximum application versatility. Jaw motion is true parallel and synchronous for easy design of jaw toolg. Pneumatically powered units are double actg for use both ternal and external applications. Close tolerance jaw mechanism made of hardened steel elimates play and is enclosed for a mimum 1 million trouble-free cycles. Male and female keys are standard on jaws providg precision positiong of jaw toolg. Proximity switches are available for dications of jaw position. Units are fully field repairable. Optional sprg assist can be specified to enhance maximum grippg force or for part retention upon loss of air pressure. Optional part ejector assists part location upon grip release. Fger blanks are available for custom fittg of fgers to the part s shape. See page -6. Eight Bore Sizes! See page -9 for sprg assist option. See page -6 and -61 for sensor option. Adjustable positiong target assembly protected under U.S. Patent No. 61949. SPECIFICATIONS WORKING PRESSURE STANDARD UNIT SPRING ASSIST UNIT BODY JAWS SEALS LUBRICATION SERIES GRT psi m. - 1 psi max. [ bar m. - 7 bar max.] 6 psi m. - 1 psi max. [4 bar m. - 7 bar max.] Hardcoated Alumum Hardened Steel Bidirectional Piston Seals Lip Type Rod Seal Permanent for Non-Lube Air See page -6 for part ejector option. www.phdc.com/grt -
DIMENSIONS: SERIES GRT GRIPPERS P6 X K8 ±. [H7] CUSTOMER SUPPLIED MANIFOLD P9 SET SCREW REMOVED GRIPPER K7 P CLOSED Ø P8 Ø P7 OPEN X ORIFICE DIA (MAY BE USED FOR MANIFOLD PORTING, SEE PAGE -64) MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED ON CUSTOMER MOUNTING SURFACE) Ø B1 B B J4 J J1 J1 B4 (J1) J ±.7 [H7] P P B6 RADIUS K6 BOLT CIRCLE J1 ±. [.] X J THREAD EACH JAW OPEN OPEN 6 CLOSED P4 K J7 X P1 PORT WITH SPOTFACE CLOSED J8 J6 ±.1 [h7] B K4 K JAW TRAVEL +.6/-. [+1./-.] X THRU HOLE FOR K1 MOUNTING SCREW K THREAD FROM OPPOSITE SIDE C L J9 J11 J1 NOTE: SPRING ASSIST OPTION AFFECTS UNIT DIMENSIONS. SEE PAGE -9 FOR INFORMATION. -4 www.phdc.com/grt All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SERIES GRT GRIPPERS LETTER DIM JAW TRAVEL B1 B B B4 B B6 J1 CLOSED J J J4 J J6 J7 J8 J9 J1 J11 J1 J1 K1 K K K4 K K6 K7 K8 P1 P P P4 P P6 P7 P8 P9.118 1.8 1.4.748.7.16.16.64.787.9 1.61 4-4 x.17 DP.146.61.18.9.119..667.177 # 8- x.94 DP.74 1.1 1.96 1.496 1.496.168 x.7 DP 1-.1.49 9.484.67.76.98.48 GRTx1x. 47.. 19. 1.4 4. 4. 16.. 1. 6.9 M x. x 4. DP 8. 14..74 7.. 1. 16.9 4. M M4 x.7 x 1 DP 9. 8..9 8. 8.. x 6. DP M x.8.9 1. 9 1. 17. 7.. 1..17.441 1.79.9.17.7 1.496.787.18.79 1.46 8- x.197 DP.97.67.18.4.17.748.9.197 #8 1- x.7 DP.7 1.8 1.84.16.16.18 x.1 DP 1-.6.669 6.1.984.76.98.48 GRTxx GRTxx GRTx4x 4. 6... 4.. 8.. 4.. 6. M4 x.7 x. DP 1. 17.. 11. 4. 19... M4 M x.8 x 9. DP 1.9 4.1 46... 4. x 8. DP M x.8 6. 17. 6 14.. 7.. 1..6.8 1.7 1.1.118.197.44.886.18.79 1.694 8- x. DP.97.79.17.47.177.87 1.1.76 #1 1/4- x. DP.6 1.86.148.48.48.18 x.1 DP 1-.9.87.6 1.181.76.98.48 6. 7. 4. 8... 7.. 4.. 4. M4 x.7 x 6. DP 1. 18. 4. 1. 4. 1. 8. 7. M M6 x 1. x 1. DP 1.7 47.4 4.6 6. 6. 4. x 8. DP M x.8 7. 1. 16.. 7.. 1..1.4 1.87 1.79.98.9.44 1.4.69.79 1.968 1-4 x.9 DP.4714.96.177.9.197.984 1.79.4 1/4 /16-18 x.6 DP.778..69.11.11.197 x.94 DP 1-..946.768 1.47.1.18.48 MODEL NUMBER 8. 9. 47... 7. 7. 6. 6... M x.8 x 7. DP 1.. 4. 1.... 9. M6 M8 x 1. x 16. DP 19.76 9.6 68.4 79. 79.. x 1. DP M x.8 9. 4. 19. 6. 8.. 1..94 4.17. 1.496.17.9.99 1.6.69.98.6 1/4- x.4 DP. 1.6.16.669.16 1.1 1.496.4 1/4 /16-18 x.6 DP.94.84.7.779.779.197 x.94 DP 1/8 NPT.4 1.4.94 1.77.1.18.48 GRTxx 1. 16. 6. 8. 4. 1. 76.. 6.. 6. M6 x 1. x 1. DP 14. 7.. 17.. 8. 8. 11. M6 M8 x 1. x 16. DP 4. 71.98 8.1 96. 96.. x 1. DP 1/8 BSP 11. 6. 4. 4. 8.. 1..1.7.9 1.7.118.49.996 1.476.17.98.677 /16-18 x.41 DP.668 1.6.7.86.76 1.418 1.7.47 /16 /8-16 x.7 DP 1.181.4 4.91 4.74 4.74.67 x.47 DP 1/8 NPT.47 1.99 1.181..4.177.48 GRTx6x GRTx7x GRTx8x 1. 14. 6. 44.. 1. 11. 7. 8.. 68. M8 x 1. x 1. DP 17.. 7.. 7. 6. 44. 1. M8 M1 x 1. x 19. DP. 89.99 1.91 1. 1. 6. x 1. DP 1/8 BSP 1... 6. 9. 4. 1..6 6.9.99 1.968.16.78. 1.81.17.118.148 /8-16 x.6 DP.7864 1.7..98.4 1.6 1.968.1 /16 /8-16 x.7 DP 1.447 4.4.1.787.787.67 x.47 DP 1/8 NPT.1 1.496 1.47.717.4.177.48 16. 161. 76.. 4. 18. 17. 46. 8.. 8. M1 x 1. x 14. DP. 4. 8.. 8. 4.. 14. M8 M1 x 1. x 19. DP 6.7 11.4 17. 147. 147. 6. x 1. DP 1/8 BSP 14. 8. 7. 69. 9. 4. 1..787 7.9.6..197.966.6.6.944.18.76 1/-1 x.7 DP.98 1.89.41 1..41.47..6 /8 1/-1 x 1. DP 1.81.46 6.8 7.8 7.8.1 x.6 DP 1/8 NPT.669 1.791 1.8.46.4.177.48.. 9. 8.. 4. 1. 6. 1. 4. 9. M1 x 1.7 x 19. DP. 48. 1. 1. 1.. 8. 16. M1 M1 x 1.7 x. DP 46. 18.76 16. 18. 18. 8. x 1.7 DP 1/8 BSP 17. 4. 47. 88. 9. 4. 1. All dimensions are reference only unless specifically toleranced. www.phdc.com/grt -
GRIP FORCE GRAPHS: SERIES GRT GRIPPERS Grippg forces are the arithmetic sum of the forces applied by all three jaws. Total grippg force shown is relation to toolg length at 87 psi [6 bar] actuatg pressure. Grip force per jaw equals the total grip force divided by three. Grip forces with sprgs are based on the average sprg force. Sprg only forces are shown with no actuatg pressure. Use the followg charts to determe the grip force and maximum toolg length for each gripper. If grippg on open (ternal grip) and toolg length falls to the shaded area, use a larger gripper or consult PHD for expected life. If grippg on close (external grip), disregard shaded area. OPEN CLOSE PART TOOLING LENGTH TOTAL GRIP FORCE lb [N] 7 [11] 6 [67] [] 4 [178] [1] [89] 1 [4] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY GRTx1x-1-xxxx TOTAL GRIP FORCE lb [N] [89] 16 [71] 1 [4] 8 [6] 4 [178] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY GRTxx-1-xxxx. [6]. [1].7 [19] 1 [] TOOLING LENGTH ch [] 1. [] 1. [8]. [].4 [1].6 [1].8 [] 1 [] 1. [] 1.4 [6] TOOLING LENGTH ch [] 1.6 [41] 1.8 [46] [1] TOTAL GRIP FORCE lb [N] [1] [111] [89] 1 [667] 1 [44] [] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY GRTxx-1-xxxx TOTAL GRIP FORCE lb [N] [17] [1] [111] [89] 1 [667] 1 [44] [] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY GRTx4x-1-xxxx. [1] 1 [] 1. [8] [1]. [64]. [1] 1 [] 1. [8] [1]. [64] [76] TOTAL GRIP FORCE lb [N] 7 [114] 6 [669] [4] 4 [1779] [1] [89] 1 [44] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY TOOLING LENGTH ch [] GRTxx-1-xxxx TOTAL GRIP FORCE lb [N] 1 [4448] 8 [9] 6 [669] 4 [1779] [89] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY TOOLING LENGTH ch [] GRTx6x-1-xxxx. [1] 1 [] 1. [8] [1]. [64] [76]. [89] 4 [1]. [1] 1 [] 1. [8] [1]. [64] [76]. [89] 4 [1] 4. [114] [17] TOOLING LENGTH ch [] TOOLING LENGTH ch [] TOTAL GRIP FORCE lb [N] -6 14 [68] 1 [8] 1 [4448] 8 [9] 6 [669] 4 [1779] [89] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY. [1] 1 [] 1. [8] www.phdc.com/grt GRTx7x-1-xxxx [1]. [64] [76]. [89] 4 [1] TOOLING LENGTH ch [] 4. [114] [17]. [14] 6 [1] TOTAL GRIP FORCE lb [N] [8897] 16 [7117] 1 [8] 8 [9] 4 [1779] AIR WITH HEAVY SPRING OPEN AIR WITH HEAVY SPRING CLOSED AIR ONLY OPEN AIR ONLY CLOSED HEAVY SPRING ONLY 1 [] [1] GRTx8x-1-xxxx [76] 4 [1] [17] TOOLING LENGTH ch [] 6 [1] 7 [178] 8 []
ENGINEERING DATA: SERIES GRT GRIPPERS MODEL NO. GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x TOTAL DIAMETRAL JAW TRAVEL.6 6.1 8.47 1.6 16.787 1.4 6 1.6 1.7 4 TOTAL CLOSE GRIP FORCE AT 87 psi [6 bar] lb N 44 196 11 499 168 747 18 971 78 168 69 1 88 91 14 649 GRIPPER WEIGHT lb.7.9.9 1.7.8.1 8.7 1. kg.1.7.4.8 1.8..98 7. SPECIFICATIONS CLOSE OR OPEN TIME 87 psi [6 bar] DISPLACEMENT sec..9..4.6.7.1..4.1..7 1.41..6 1.7 1.9 cm 1.6 1 49 9 176 9 Mimum Operatg Pressure is psi [ bar] for standard unit and 6 psi [4 bar] for sprg assist unit. EXTERNAL GRIP IMPERIAL. 1.9 1.9.1 4. 6.4 1.11 16.69 GRIP FORCE FACTOR (GF) METRIC 8 1 16 81 4 6 177 INTERNAL GRIP IMPERIAL.7 1.4.1.68 4.61 6.99 1.67 17. METRIC 7 9 16 17 97 41 688 111 HEAVY SPRING MODEL NO. GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x SF SPRING GRIP FORCE WEIGHT CLOSE OR OPEN TIME 87 psi [6 bar] IN sec MINIMUM MAXIMUM ADDER with agast sprg MODEL lb 9 14 8 49 118 19 6 4 N 4 6 1 18 88 117 1441 lb 18 8 11 41 498 91 N 8 1 6 498 1 117 1 69 lb.7.1..4 1.1 1.89.7.1 kg..7.1.18..86 1.8.1 sprg.8..4..8.11.1.7 sprg.14..1.1.16.1.6.48 only.14.4.1.1.1.1.4.4 NO. GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x TOOLING LENGTH MAXIMUM 1. 1.97.6.9.94 4.9.91 7.87 4 6 7 1 1 1 TOOLING WEIGHT MAX. PER JAW lb.17..7 1..6 4. 8.8 16. kg.8.14..7 1.. 4. 7.7 Sprg grip force (SF) varies with sprg compression. The mimum sprg grip force values occur with the sprg at least compression (jaws fully closed on sprg close units and fully open on sprg open units). The maximum sprg grip force values occur with the sprg at most compression (jaws fully open on sprg close units and fully closed on sprg open units). SEALS AND FLUIDS Buna-N seals are standard on all Series GRT Grippers. Piston seals are long life Buna-N and rod seals are lip type or O-rgs. Both are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use ambient temperatures from to 18 F [ to 8 C]. For higher temperatures, consult PHD. LIFE EXPECTANCY All standard units with Buna-N seals have been designed for a mimum of 1 million trouble free cycles, with mimal seal wear and backlash. INTERNAL SPRINGS Internal sprgs are tended to assist the gripper and add to grip force one specific direction. They can be used to open or close the gripper without pneumatic pressure or to mata sprg grip force if pressure is lost. Sprg life excess of 1. million cycles can be expected. PART EJECTOR SPRINGS Sprg life excess of million cycles can be expected for the part ejector sprgs. LUBRICATION Seals and gripper mechanism are lubricated at the factory for service under normal operatg conditions. MATERIAL Gripper body and piston are made of hardcoated alumum. Jaws and operatg mechanism are manufactured from hardened steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. REPEATABILITY Grip repeatability is with. ch [. ] of origal centered position. BACKLASH Jaw backlash the (A) direction will not exceed.1 [.4 ] per jaw. Total clearance between the parallel jaws and the body will not exceed the followg figures: (B). [.7 ] (C).7 [.68 ] B C A www.phdc.com/grt -7
ENGINEERING DATA: SERIES GRT GRIPPERS TOOLING LENGTH FACTOR Toolg should be designed so that the grip pot is as close to the body surface as possible. When the grip pot moves away, jaw friction creases, which decreases grip force. The GF formation given on the precedg page is for zero toolg length (body surface). The chart shows how force decreases as the grip pot moves away from the body surface. The deratg figures and maximum toolg lengths are cluded the graphs on page -6. PART DISTANCE FROM BODY SURFACE DERATING FACTOR 1..9.8.7.6..4...1 GRTx1x GRTxx 1 [] [1] GRTxx GRTx4x CHART A [76] GRTxx 4 [1] GRTx6x [17] GRTx7x 6 [1] TOOLING LENGTH ch [] 7 [178] GRTx8x 8 [] MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS MODEL NO. GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x Fa lb N 49 18 141 6 7 1 419 186 8 6 6 9 71 OPEN Mx* -lb Nm 4 4. 6 76 9 17 14 7 1 87 66 119 14 486 81 CLOSE Mx -lb Nm 116 1 1 6 98 4 796 9 18 14 87 7 8 74 My -lb 41 1 1 9 98 77 884 191 Nm 4.6 1 4 8 1 18 Mz -lb 44 1 1 1 486 7 11 77 Nm 1 1 6 1 BODY SURFACE Fa Mx Fa: Total for all jaws Mx: Per jaw, with moments from body surface My: Per jaw, with moments from center of jaw Mz: Per jaw, with moments from body surface, toolg keyed to jaw When calculatg values for Mx, My, and Mz, clude the grip force, part weight, acceleration, and external forces. When calculatg the value for Fa, clude weight of toolg, part weight, acceleration, and external forces. Mz My *Maximum Open Mx values based on 1 million cycle life and assume part is gripped with jaws full open position. Grippg part with jaws at less than full open position will crease allowable Open Mx. GRIPPER CALCULATION EXAMPLE WITHOUT SPRINGS: TOTAL FORCE lb [N] = (Pressure psi [bar] x GF) x Toolg Length Factor SPRINGS WORKING WITH APPLIED PRESSURE: TOTAL FORCE lb [N] = [(Pressure psi [bar] x GF) + SF lb [N]] x Toolg Length Factor AGAINST APPLIED PRESSURE: TOTAL FORCE lb [N] = [(Pressure psi [bar] x GF) - SF lb [N]] x Toolg Length Factor GRT1-1-1, [GRT-1-1] Operatg Pressure = 87 psi, [6 bar] Fd Grip Force Factor GF = 4., [81] (from Specifications, page -7) Fd Toolg Length Factor =.8, [.8] (See Chart A) (Toolg Length of.7.8, [9 ] Toolg Length Factor) Total Grip Force 4. x 87 psi x.8 = lb, [81 x 6 x.8 = 14 N] GRT1-1-1, [GRT-1-1] Sprg assist close, heavy sprgs Fd Sprg Grip Force SF = 17 lb, [779 N] (Average sprg force, page -7) 17 = (118 + )/, [779 = ( + 1)/] (All other data is the same.) Total Grip Force (4. x 87 psi + 17 lb) x.8 = 47 lb, [(81 x 6 + 779) x.8 = 9 N] PART (external grip) BODY SURFACE.7-8 www.phdc.com/grt All dimensions are reference only unless specifically toleranced.
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS & 6 HEAVY FORCE SPRING ASSIST Sprgs can mata sprg grip force if air pressure is lost or crease grip force one specific direction when used with air pressure. Sprg life excess of 1. million cycles can be expected. For mimum operatg pressures and sprg grip forces, see specifications on page -7. GRIPPER C CLEARANCE Ø IN CAP X K9 THREAD P6 X Ø K1 SEE DETAIL B X K9 DEPTH P CLOSED OPEN K K7 K9 MOUNTING DIMENSIONS DETAIL A GRIPPER C CLEARANCE Ø IN CAP X ORIFICE DIA MAY BE USED FOR MANIFOLD PORTING, SEE PAGE 64. C4 K4 Ø B1 K Ø B9 (PILOT LOCATOR) X Ø K9 SEE DETAIL A X Ø K1 X K1 DEPTH K1 MOUNTING PIN DIMENSIONS DETAIL B CUSTOMER SUPPLIED MANIFOLD P9 SET SCREW REMOVED C B C1 C Ø P7 Ø P8 GRIPPER MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED ON CUSTOMER MOUNTING SURFACE) LETTER DIM Ø B1 B Ø B9 MAX Ø B9 MIN C1 C C C4 K K4 K K7 K9 K1 P P6 Ø P7 Ø P8 P9 1.8 1.4 1.6 1.61 1.4 1.8.6.118.74 1.1 1.96 1.496 8- x.94 DP.168 x.1 DP.484.67.76.98.48 GRTx1x 47.. 7.1 6.9 1. 4. 6.. 9. 8..9 8. M4 x.7 x.94 DP. x.1 DP 1. 17. 7.. 1..441 1.79 1.6 1.649 1.1 1.7.6.17.7 1.8 1.84.16 1- x.611 DP.18 x.1 DP.1.984.76.98.48 GRTxx GRTxx GRTx4x 6.. 4. 41.89 8. 44. 6. 6. 1.9 4.1 46.. M x.8 x 16. DP 4. x 14. DP 14.. 7.. 1..8 1.7.79.4 1.811.16.6.9.6 1.86.148.48 1/4- x.76 DP.18 x.1 DP.6 1.181.76.98.48 7. 4. 1..89 46. 4. 6. 8. 1.7 47.4 4.6 6. M6 x 1. x 19. DP 4. x 14. DP 16.. 7.. 1..4 1.87.91.6.146.44.76.96.778..69.11 /16-18 x.91 DP.197 x.67 DP.768 1.47.1.18.48 9. 47. 6. 64.8 4. 6. 7. 8. 19.76 9.6 68.4 79. M8 x 1. x. DP. x 6. DP 19. 6. 8.. 1. MODEL NUMBER GRTxx 4.17..8.18.9.99.4.4.94.84.7.779 /16-18 x.979 DP.197 x.748 DP.94 1.77.1.18.48 16. 6. 8. 81.8 6. 76. 9. 11. 4. 71.98 8.1 96. M8 x 1. x. DP. x 19. DP 4. 4. 8.. 1..7.9 4.17 4.9.91.4.4.611 1.181.4 4.91 4.74 /8-16 x 1.14 DP.67 x.84 DP 1.181..4.177.48 GRTx6x GRTx7x GRTx8x 14. 6. 1. 11.8 74. 9. 9. 16.. 89.99 1.91 1. M1 x 1. x 8. DP 6. x 1. DP. 6. 9. 4. 1. 6.9.99.94.9.4 4.17.4.748 1.447 4.4.1.787 /8-16 x 1.18 DP.67 X.9 DP 1.47.717.4.177.48 161. 76. 18. 17.8 87. 16. 11. 19. 6.7 11.4 17. 147. M1 x 1. x. DP 6. x. DP 7. 69. 9. 4. 1. 7.9.6 6.99 6.97 4.7.9.1.984 1.81.46 6.8 7.8 1/-1 x 1.1 DP.1 x 1.1 DP 1.8.46.4.177.48. 9. 16. 19.8 1. 18. 1.. 46. 18.76 16. 18. M1 x 1.7 x 8. DP 1. x 9. DP 47. 88. 9. 4. 1. All dimensions are reference only unless specifically toleranced. www.phdc.com/grt -9
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS PROXIMITY SWITCH READY- INTERNAL This option equips the gripper with sleeves to provide for the mountg of up to three round proximity switches. Target Kits and Proximity Switches are ordered separately. See Switches and Sensors section for complete switch specifications. The adjustable positiong target assembly is protected under U.S. patent no. 61949. LETTER DIM PS1 PS PS PS4 PS PS6 PS7 PS9 PS1 PS11 NOTES: SENSING DIRECTION JAWS OPENING JAWS CLOSING 4 ROUND INDUCTIVE PROXIMITY SWITCHES PART NUMBER DESCRIPTION 184-1- NPN (Sk) 1- VDC, meter cable 184-- PNP (Source) 1- VDC, meter cable 8 THREADED INDUCTIVE PROXIMITY SWITCHES PART NUMBER 14-- 14-6- GRTx1x 4 ROUND...88 9.86.77 19.69 1.4 4.9 1.1.7 1.1.7. 14.1..7.17 4. MODEL NUMBER GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x 4 ROUND 4 ROUND 4 ROUND 4 ROUND 8 THREADED 8 THREADED 8 THREADED..........76..76..76.7 1.7.6 1.7.778 19.7.94 4. 1.181. 1.447 6.7 1.81 46. 1. 6.7 1.4 1. 1. 9. 1.89 48..6 6..894 7..64 9. 1.84 46..148 4..69 68.41.7 8.1 4.91 1.91.1 17. 6.7 16. 1.4 6. 1. 1. 1.18. 1.18. 1.8. 1.14 9. 1.18. 1.4 6. 1. 1. 1.4 6..8 1. 1.8. 1.14 9..81..77 19.6.971 4.7 1.147 9.1 1.64 4.6 1.4 8.7 1.76 44.7.9...7..7..7.6 1..167 4..76 7..44 1..17 4..17 4..17 4..17 4..1 8..1 8..1 8. 1) (PS1) THE PROX TARGET MAY EXTEND OUT OF THE JAW WHEN THE JAWS CLOSE. TARGET IS ADJUSTED TO SENSE LESS THAN.9 [1] MOVEMENT FROM THE FULL CLOSED POSITION ) JAWS SHOWN IN FULL OPEN POSITION GRTx1x 68-686- GRTxx 68-1 686-1 GRTxx 68-686-1 PS MAX SENSING DISTANCE DESCRIPTION NPN (Sk) - VDC, meter cable PNP (Source) - VDC, meter cable TARGET KIT NUMBER GRTx4x GRTxx 68-68- 686-686- EACH KIT WILL MOUNT ONE SWITCH. KIT INCLUDES: 1 PROXIMITY TARGET, 1 PROXIMITY ADJUSTMENT SCREW, TARGET ADJUSTMENT SCREWS GRTx6x 68-686-4 DETAIL A GRTx7x 68-4 686- GRTx8x 68-4 686- /64 [] TARGET ADJUSTMENT HEX PS11 MAX TARGET WIDTH Ø PS1 (PROX SWITCH) PS1 MAX PS9 PS7 APPROX LED LOCATION - 4 PROX APPROX LED LOCATION - 8 PROX PS A LOCATION OF PROXIMITY SWITCHES Ø PS1 (PROX SWITCH) PS PS4 1.18 [] MIN BEND RADIUS PS6-6 www.phdc.com/grt All dimensions are reference only unless specifically toleranced.
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS PROXIMITY SWITCHES - EXTERNAL This accessory provides for the external mountg of round metal sensg proximity switches. Up to six switches may be mounted usg multiple brackets. The user is required to design and mount targets for the switch to sense. Proximity Switches are ordered separately. See Switches and Sensors section for complete switch specifications. LETTER DIM EP1 EP EP EP4 EP EP6 EP7 EP8 EP9 EP1 EP11 EP1 GRTx1x 8 THREADED 1.77 4..17 4..1 1..748 19..9..77 9.6.7 17.8.6 1..48 1..648 16. MODEL NUMBER GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x 8 THREADED 8 THREADED 8 THREADED 8 THREADED 1 THREADED 1 THREADED 1 THREADED 1.77 4. 1.77 4. 1.77 4. 1.77 4..6 6..6 6..6 6..17 4..17 4..17 4..17 4..17 4..17 4..17 4..1 1..1 1..1 1..1 1..669 17..669 17..669 17..9. 1.1 8. 1.79. 1.496 8. 1.7 44. 1.968.. 8. 1.1 1. 1.418 6. 1.77 4..87..68 67..17 8..977 11..41 1..419 1.6.4 1..44 11..1 1..49 1..1 1.1.78 18.7.744 18.9.78 18..768 19..9.7.91..98.8.1.7.1.7.1.7.1.7.1.7.1.7.1.7.69 17.6.817.8.98. 1.77 7.4 1.4 6.4 1. 8.7 1.944 49.4.689 17..688 17..86 1..968 4.6 1.7.7 1.41.6 1.7 4.8............ MOUNTING BRACKETS PART NUMBER BRACKET NUMBER GRTx1 61-1 GRTx 61- GRTx 61- GRTx4 61-4 GRTx 61- GRTx6 61-6 GRTx7 61-7 GRTx8 61-8 8 THREADED INDUCTIVE PROXIMITY SWITCHES PART NUMBER DESCRIPTION 14-- NPN (Sk) - VDC, meter cable 14-6- PNP (Source) - VDC, meter cable EP1 JAWS CLOSED EP11 EP1 EP4 HEX EP6 EP1 PROXIMITY SWITCH (ORDERED SEPARATELY) EP7 EP8 EP X EP EP9 EP 1 THREADED INDUCTIVE PROXIMITY SWITCHES PART NUMBER DESCRIPTION 161-1 NPN (Sk) 1- VDC, meter cable 161- PNP (Source) 1- VDC, meter cable 161- AC - VAC, meter cable All dimensions are reference only unless specifically toleranced. www.phdc.com/grt -61
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS 1 PART EJECTOR This option equips the gripper with a sprg actuated part ejector. When grip force is removed, the part ejector can push the part agast a positive stop. This allows accurate part location and isolates forces due to location with the gripper mechanism, protectg the rest of the automation device. Sprg life excess of million cycles can be expected. EJ14 MAX EJ1 MAX X Ø EJ8 (MAXIMUM FASTENER SIZE WHEN USED WITH CUSTOMER MODIFIED PART EJECTOR PLATE) PHD SUPPLIED SPOTDRILL FOR EASY CUSTOMER MODIFICATION Ø EJ1 MAX MODEL NO. GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x PART EJECTOR TOTAL SPRING FORCE lb N - 1-4. - 8.4-7 7. - 11-1 11-18 1-8 - 8 88-14 7-8 11-167 - 6 17-48 74-96 - 47 EJ1 MAX EJ9 MAX B OPTIONAL SPRING ASSIST Ø EJ MOUNTING HOLE PATTERN EJ7 EJ6 Ø EJ MIN PART EJECTOR SPRINGS OMITTED FOR CLARITY OPTIONAL SPRING ASSIST EJ EJ4 EJ1 MAX MATERIAL THICKNESS EJ11 MIN TRAVEL PART EJECTOR COMPRESSED PART EJECTOR EXTENDED LETTER DIM B Ø EJ1 Ø EJ Ø EJ EJ4 EJ EJ6 EJ7 Ø EJ8 EJ9 EJ1 EJ11 EJ1 EJ1 EJ14 1.4. N/A.7 N/A N/A N/A N/A N/A 1.16 1.6.6.6 1.61 1.97 GRTx1x. 9. N/A 17.8 N/A N/A N/A N/A N/A 8.6 4.6 1.6 1.6 6.9.9 1.79.9 1.18.766..69.71.71 # 1. 1.788.11.11 1.44 1. GRTxx GRTxx GRTx4x. 8.. 19. 8. 17. 14. 14. M 9.4 4.4..9.7 8.9 1.7.6 1.1.87.78.7.64.64 #6 1.966..9.11 1.7 1.89 4. 9. 8.4.1 1. 19. 17. 17. M 49.9 6. 6..9 4. 46.4 1.87 4.1 1.89 1..47.946.819.819 #8.7.1.9.18.1.164 47. 11. 48..9 1. 4. 1. 1. M4 7.8 64.8 6.. 1.1. MODEL NUMBER GRTxx. 4.94.64 1.76.66 1.1.98.98 #1.614.96.9 1.8.4.77 6. 1. 7. 4.9 14. 9... M 66.4 7. 6.. 9.6 6.4.9 6.8.784 1.7.696 1.9 1.6 1.6 /16.61.41.18.14.714.91 GRTx6x GRTx7x GRTx8x 6. 1. 7.7 9.9 18.. 1. 1. M8 77.7 86.7 8..7 68.9 74.4.99 7.84.96 1.94.84 1.648 1.47 1.47 /8.7 4.6.96.14.147.44 76. 188. 8.7 48.8 1. 4. 6. 6. M1 9.7 11.8 1.1.7 79.9 87.4.6 8.98 4.14.48 1.4.7 1.78 1.78 1/ 4.1 4.74.474.14.718 4.9 9. 8. 1. 6.4 6. 1. 44. 44. M1 17. 1. 1.1.7 94.4 1.9-6 www.phdc.com/grt All dimensions are reference only unless specifically toleranced.
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS FINGER BLANKS This accessory provides jaw toolg blanks which can easily be mached to meet specific application requirements. Each alumum blank has key geometry to precisely mate and align with the Series GRT Gripper jaw. One fger blank is supplied per kit. F7 F F6 F Ø F9 MIN F1 F1 F F4 X THRU AND C BORED FOR F8 SHCS PART F11 MAX TOOLING LENGTH F1 CUTOUT REQUIRED FOR USE WITH PART EJECTOR OPTION LETTER DIM F1 F F F4 F F6 F7 F8 SHCS F9 F1 F11 F1 1.6..98.96.7.16.777 4-4 x /8.6.41.8.11 GRTx1x 41. 1.7 4.9.4 9. 8.. M x. x 16. 1.6 1.7 7.1.8.16.6 1.6.196.1.98.17 8- x 1/.6.49.78.171 MODEL NUMBER GRTxx GRTxx GRTx4x. 1.88.. 1. 1. 4. M4 x.7 x 1. 1.6 1.4 7. 4..76.6 1.8.17.1.98.17 8- x /8.6..19.8 7. 1.88.1 4. 14. 1. 4. M4 x.7 x 16. 1.6 1. 8.1 8..1.7 1.6.17.679.47.6 1-4 x /8.91.48.88.6 8. 19. 41.. 17. 1. 6. M x.8 x 16.. 11.1 9.9 9. 4.1 1. 1.98.196.748.1.7 1/4- x /4.91.76.416.99 GRTxx 11..4 49.. 19. 14. 6. M6 x 1. x.. 14.6 1.6 7.6.1 1..47.17 1..6694.14 /16-18 x 1.1.694..49 GRTx6x GRTx7x GRTx8x 1. 1.7 61.1 4. 6. 17. 8. M8 x 1. x.. 17.6 1.6 11. 6.99 1..9.196 1.161.787.14 /8-16 x 1.1.6.691.48 16. 8.1 7.7. 9.. 8. M1 x 1. x.. 1.8 17.6 1. 8.46 1.7.44.6 1.9.98.9 1/-1 x 1-1/.17 1.48.89.17 1. 44.4 87.4 6. 4.. 1. M1 x 1.7 x 4..9 6.6. 1.1 MODEL NUMBER GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x TOOLING LENGTH 1.49 8 1.97.6 6.9 7.94 1 4.9 1.91 1 7.87 WEIGHT PER FINGER BLANK lb kg.9.7.1..17.8.9.1.6.9 1..7.6.9.8 1.7 MODEL NUMBER GRTx1x GRTxx GRTxx GRTx4x GRTxx GRTx6x GRTx7x GRTx8x IMPERIAL 689-1 689-689- 689-4 689-689-6 689-7 689-8 KIT NUMBER* METRIC 689-11 689-1 689-1 689-14 689-1 689-16 689-17 689-18 * ONE FINGER BLANK IS SUPPLIED PER KIT. (THREE KITS REQUIRED TO EQUIP EACH GRIPPER). All dimensions are reference only unless specifically toleranced. www.phdc.com/grt -6
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS MANIFOLD SEAL KIT All Series GRT grippers have manifold portg as standard. Port plugs must first be removed when usg this feature. See page -4 for dimensions. MANIFOLD KIT INCLUDES PORT PLUGS MANIFOLD O-RING SEALS KIT NUMBER: (STD SEALS) (FLUORO-ELAS- TOMER SEALS) O-RING SIZE GRT11 GRT1 GRT1 61-1-.17 ID x.9 CS GRT 61-- 4. ID x 1. CS GRT1 61-1-.17 ID x.9 CS GRT 61-- 4. ID x 1. CS GRT14 61--.197 ID x.9 CS PORT (TO BE PLUGGED WHEN USING MANIFOLD PORTS) MANIFOLD PORTS (SHIPPED PLUGGED FROM FACTORY) MODEL NUMBER GRT4 61-6-. ID x 1. CS GRT1 61--.197 ID x.9 CS GRT 61-7-. ID x 1. CS GRT16 61-4-.6 ID x.9 CS CLOSED OPEN GRT6 61-8- 6. ID x 1. CS GRT17 61-4-.6 ID x.9 CS GRT7 61-8- 6. ID x 1. CS MANIFOLD O-RING 61-1-1 61--1 61-1-1 61--1 61-1-1 61--1 61--1 61-6-1 61--1 61-7-1 61-4-1 61-8-1 61-4-1 61-8-1 61-4-1 61-8-1 61-1-.17 ID x.9 CS 61-- 4. ID x 1. CS GRT18 61-4-.6 ID x.9 CS GRT8 61-8- 6. ID x 1. CS GRIPPER MOUNTING KIT Gripper mountg kits are available. The kit cludes three socket head cap screws. Part ejector option does not affect mountg kits listed below. STANDARD UNIT KIT NUMBER FASTENER (SHCS) GRT11 616-1 -4 x 1-1/4 GRT1 681-1 M x. x GRT1 616-8- x 1-1/4 GRT 681- M4 x.7 x GRT1 616-1-4 x 1-1/ GRT 681- M x.8 x 4 GRT14 616-4 1/4- x 1-/4 MODEL NUMBER GRT4 681-4 M6 x 1. x 4 GRT1 616-1/4- x GRT 681- M6 x 1. x GRT16 616-6 /16-18 x -1/4 GRT6 681-6 M8 x 1. x GRT17 616-7 /16-18 x -1/ GRT7 681-7 M8 x 1. x 6 GRT18 616-8 /8-16 x GRT8 681-8 M1 x 1. x 8 SPRING ASSIST UNIT KIT NUMBER FASTENER (SHCS) GRT11 6418-1 6- x 1-1/4 GRT1 6419-1 M x. x GRT1 6418-8- x 1-1/ GRT 6419- M4 x.7 x GRT1 6418-1-4 x 1-/4 GRT 6419- M x.8 x 4 GRT14 6418-4 1/4- x MODEL NUMBER GRT4 6419-4 M6 x 1. x GRT1 6418-1/4- x -1/ GRT 6419- M6 x 1. x 6 GRT16 6418-6 /16-18 x -/4 GRT6 6419-6 M8 x 1. x 6 GRT17 6418-7 /16-18 x GRT7 6419-7 M8 x 1. x 7 GRT18 6418-8 /8-16 x -1/ GRT8 6419-8 M1 x 1. x 9-64 www.phdc.com/grt All dimensions are reference only unless specifically toleranced.
NOTES www.phdc.com/grt -6
ORDERING DATA: SERIES GRS GRIPPERS TO ORDER SPECIFY: Product Le, Series, Type, Grip, Jaw, Design No., Size, Total Jaw Travel, and Options required. SERIES Regular Duty GRIP High Force DESIGN NO. (See Note) 1 - Imperial - Metric OPTIONS (OMIT IF NOT REQUIRED) PORTING OPTIONS L11-UB99 - Manifold option location 99 L11-UB7 - Manifold option location 7 (cludes GR option) UB48 - Port option location 48 SWITCH OPTION CU -Switch Ready MOUNTING OPTION GR - Mountg option location 7 SPRING ASSIST FSR - Sprg assist close FSE - Sprg assist open OPTION: MANIFOLD IN LOCATION 7 OPTION: MOUNTING IN LOCATION 7 7 99 1 48 STANDARD PORT IN LOCATION 1 OPTION: MANIFOLD IN LOCATION 99 OPTION: PORTS IN LOCATION 48 G R S - 1-7 x 4. - L11-UB99 PRODUCT LINE G - Gripper TYPE Short Parallel NOTE: Design number dictates imperial or metric mountg holes, dowel p holes, and ports. Please refer to pages -77 and -78 for switch and kit formation. JAW Style SIZE 7 7 8 8 6 6 BORE SIZE Diameter 7 7 7 7 6 6 () (1.6) (1.6) (1.6) (1.6) (1.6) (1.6) (1.969) (1.969) (.48) (.48) MINIMUM TOTAL JAW TRAVEL Total Travel Per Bore Size 4. 7 6 1 8 1 19 8 44 () (.177) (.76) (.) (.94) (.1) (.1) (.7) (1.1) (1.6) (1.7) TOTAL JAW TRAVEL = OPEN POSITION - CLOSED POSITION OPEN POSITION CLOSED POSITON CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. PRODUCTS CUSTOM CUSTOM EED N T O FIT -66 www.phdc.com/grs
BENEFITS: SERIES GRS GRIPPERS BENEFITS Series GRS grippers feature an angled cam drive mechanism and precision ground jaws for smooth operation and mimal jaw play. Low profile to fit limited space applications. Rugged jaw support, hardened jaws, hardcoated bearg surfaces, and ternal jaw seals all units ensure long service life. Parallel jaw motion and two jaw travels per size provide superb adaptability to meet a wide variety of applications. Double actg for use both ternal and external grippg applications. Jaws and body feature dowel p holes for accurate toolg alignment. Optional manifold ports allow elimation of external air les. Optional sprg assist enhances maximum grippg force and provides part retention upon loss of air pressure. Optional mountg threads, dowel p holes and port positions provide added application flexibility. Optional 4 and 8 round ductive proximity switches, as well as Series 679 Solid State and Reed switches, are available for dication of jaw position and simple terfacg with electronic system controls. Plated & Hardened Steel Jaw Cover Integral Jaw Seals Hardened & Ground Steel Jaws with Precision Dowel Holes Precise Jaw & Jaw Guide for Decreased Jaw Play Hardcoated Alumum Body with Precision Dowel Holes Large Hardened Jaw Drivg Surfaces Self-Lubricatg Cam Driver Driver keyed to body for centerg repeatability Switch Slots Accept Proximity, Solid State and Reed Switches (with -CU Option) Chrome Plated Piston Rod for extended seal life Anodized Alumum Piston Anodized Alumum Plug Long Life Piston & Rod Seals SPECIFICATIONS 7 x 4. 7 x 7 8 x 6 8 x 1 x 8 WORKING AIR PRESSURE: STANDARD UNIT psi m. to 1 psi max. [ bar m. to 7 bar max.] SPRING ASSIST UNIT psi m. to 1 psi max. [. bar m. to 7 bar max.] TOTAL GRIP FORCE AT 87 psi [6 bar]: STANDARD UNIT 68 lb [ N] 48 lb [14 N] 77 lb [4 N] 48 lb [14 N] 19 lb [484 N] SPRING ASSIST UNIT (MID-TRAVEL) 94 lb [418 N] 66 lb [9 N] 1 lb [468 N] 66 lb [9 N] 149 lb [661 N] TOTAL JAW TRAVEL.177 [4. ].76 [7. ]. [6. ].94 [1 ].1 [8. ] BORE DIAMETER 1.6 [7 ] 1.6 [7 ] 1.6 [7 ] 1.6 [7 ] 1.6 [ ] UNIT WEIGHT: STANDARD UNIT.9 lb [.1 kg].9 lb [.1 kg].4 lb [.4 kg].4 lb [.4 kg] 1. lb [.4 kg] SPRING ASSIST UNIT.9 lb [.18 kg].9 lb [.18 kg].69 lb [.1 kg].69 lb [.1 kg] 1.4 lb [.61 kg] MAXIMUM TOOLING LENGTH. [7 ]. [7 ] 4. [1 ] 4. [1 ] 4. [1 ] SPECIFICATIONS x 1 x 19 x 8 6 x 6 x 44 WORKING AIR PRESSURE: STANDARD UNIT psi m. to 1 psi max. [ bar m. to 7 bar max.] SPRING ASSIST UNIT psi m. to 1 psi max. [. bar m. to 7 bar max.] TOTAL GRIP FORCE AT 87 psi [6 bar]: STANDARD UNIT 7 lb [11 N] lb [14 N] 17 lb [698 N] 98 lb [177 N] 89 lb [187 N] SPRING ASSIST UNIT (MID-TRAVEL) 9 lb [4 N] 8 lb [146] 19 lb [97 N] 17 lb [99 N] 76 lb [167 N] TOTAL JAW TRAVEL.1 [1 ].7 [19 ] 1.1 [8 ] 1.6 [ ] 1.7 [44 ] BORE DIAMETER 1.6 [ ] 1.97 [ ] 1.97 [ ].48 [6 ].48 [6 ] UNIT WEIGHT: STANDARD UNIT 1. lb [.4 kg].4 lb [1.9 kg].4 lb [1.9 kg] 7.8 lb [.4 kg] 7.8 lb [.4 kg] SPRING ASSIST UNIT 1.4 lb [.61 kg].11 lb [1.41 kg].11 lb [1.41 kg] 9. lb [4.1 kg] 9. lb [4.1 kg] MAXIMUM TOOLING LENGTH 4. [1 ] 6. [1 ] 6. [1 ] 9. [ ] 9. [ ] www.phdc.com/grs -67
DIMENSIONS: SERIES GRS GRIPPERS X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) K C L 4 C L K B1 X K4 ±. [H7] DOWEL PIN HOLE NOTES: 1) **DIMENSIONS FOR THESE FEATURES CHANGE FOR SPRING ASSIST UNITS, SEE SPRING ASSIST DIMENSIONS ON PAGE -74 FOR INFORMATION. ) DESIGNATED C L IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED 4) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED ) CIRCLED NUMBERS INDICATE POSITIONS 6) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION X P1 PORT P** P** K B 1 C L X K1 THD (SIZE 7, 8, & ) 4X K1 THD (SIZE 6 ONLY) EXTRA SIZE 6 THREADS SHOWN SHADED SIZE 7 & 8 SIZE, & 6 C L C L P4** P** J8** J** J8** J** B** B4** J7 J / J J7 J 6 A CLOSED* A OPEN*(SHORT TRAVEL) APPLIES TO: GRS 7 x 4., 8 x 6, x 8, x 19, AND 6 x X J ±. [H7] DOWEL PIN HOLE J4 J6 X J1 THD X J ±. [H7] DOWEL PIN HOLE J4 J6 4X J1 THD A OPEN*(LONG TRAVEL) APPLIES TO: GRS 7 x 7, 8 x 1, x 1, x 8, AND 6 x 44 LETTER DIM SHORT TRAVEL (MIN TRAVEL PER JAW) LONG TRAVEL (MIN TRAVEL PER JAW) A CLOSED* A OPEN SHORT* A OPEN LONG* B1 B B** B4** J1 J J J4 J** J6 J7 J8** K1 K K K4 K P1 P** P** P4** P**.84.18 7 1.614 1.79 1.89 1.78 1.496 1.6 1.1 8- x.6 DP.68 x.197 DP.9.4.6889.61.4.6 8- x.7 DP 1.4 1.14.18 x. DP 1.86 1-.48.61.1.7.1. 41. 4. 48.. 8. 6. 8.7 M4 x.7 x 6. DP. x. DP 6. 9. 17. 16. 11. 1. M x.8 x 9. DP 6. 9.. x 6. DP 4. M x.8 1. 1..1 14..1.197.1.7. 1.496 1.969 1.79 1.9 1- x.1 DP.18 x.197 DP.1.41.8464.748.14.77 1/4- x.1 DP.984 1.47.198 x.6 DP 1.748 1-.4.1.1.91 SIZE 8.. 4. 6. 6. 8....4 M x.8 x 8 DP. x. DP 8. 1. 1. 19. 14. 18. M6 x 1. x 1. DP. 7.. x 6. DP 4. M x.8 11. 1..1 1..17.6.677..19 1.614. 1.686 1.847 1- x.94 DP.19 x.6 DP.97.6 1.1.984.748.98 /16-18 x.91 DP.94 1.8.198 x.6 DP 1.968 1-.91.91.6.78 4. 6. 68. 76. 81. 41. 64. 4.8 46.9 M x.8 x 1. DP 4. x 6. DP 1. 16. 8.. 19..8 M8 x 1. x 1. DP 4. 47.. x 6. DP. M x.8 1. 1. 6. 18..7.1. 4. 4.66.8.86..48 1/4-8 x.1 DP.198 x.94 DP.1.787 1.46 1.6 1.8 1.8 /8-16 x.768 DP 1.47.9.18 x.1 DP.678 1/8 NPT 1.16.96.89 1.11 9. 14. 88.9 18. 117. 8. 86. 7. 61.9 M6 x 1. x 1. DP. x 1. DP 14.. 7.. 6. 1. M1 x 1. x 19. DP 7. 6. 8. x 1. DP 67. 1/8 BSPP.8 4. 9.9 9..6.87 6.748 7. 7..9.6.48.648 /8-4 x.768 DP.18 x.1 DP.8661 1.6.16 1.7719 1.6144 1.79 1/-1 x 1.4 DP 1.969 4.14.78 x.1 DP 4.14 1/8 NPT 1.181 1.181.41 1.47 16.. 146. 177.8 19. 7. 1. 86.6 9.7 M1 x 1. x 19. DP 8. x 1. DP. 7.. 4. 41. 4. M1 x 1.7 x 6. DP. 1. 1. x 1 DP 1. 1/8 BSPP.. 1. 6. -68 www.phdc.com/grs
ENGINEERING DATA: SERIES GRS GRIPPERS SIZE 7 8 6 MINIMUM TOTAL JAW TRAVEL.177.76..94.1.1.7 1.1 1.6 1.7 4. 7 6 1 8 1 19 8 44 TOTAL CLOSE GRIP FORCE AT 87 psi [6 bar] lb 68 48 77 48 19 7 17 98 89 N 1 41 1 48 1 14 697 177 187 GRIPPER WEIGHT lb kg.9.1.9.1.4.4.4.4 1..4 1..4.4 1.1.4 1.1 7.8. 7.8. SPECIFICATIONS CLOSE OR OPEN TIME 87 psi [6 bar] sec.11.11.1.1.16.16.18.18.. DISPLACEMENT cm.1..1..18..18..... 1.7 6 1.7 6 4.97 7 4.97 7 EXTERNAL GRIP Imperial.78..88. 1..8.7 1.8 4.6. GRIP FORCE FACTOR (GF) Metric 6 7 6 81 174 116 97 1 INTERNAL GRIP Imperial.8.9.9.9 1..86.8 1.9 4.7. Metric 4 8 6 8 86 6 181 1 6 SIZE 7 x 4. 7 x 7 8 x 6 8 x 1 x 8 x 1 x 19 x 8 6 x 6 x 44 SPRING ASSIST GRIP FORCE SF (SPRING ONLY)* SPRING CLOSE GRIP FORCE SF (SPRING ONLY)* SPRING OPEN GRIP FORCE MINIMUM MAXIMUM MINIMUM MAXIMUM lb 1 14 9 19 74 49 79 8 N 96 68 1 6 1 8 7 18 7 lb 1 11 7 19 116 N 17 96 14 96 4 14 6 78 1 lb 17 1 16 1 14 6 6 N 7 1 71 44 98 6 1 14 16 117 lb 7 4 11 76 16 116 N 146 1 164 1 4 1 4 6 71 16 SPRING ASSIST WEIGHT ADDER lb kg.1..1..1.7.1.7.4.1.4.1.71..71. 1.7.77 1.7.77 SPRING ASSIST CLOSE OR OPEN TIME 87 psi [6 bar] IN sec with sprg.1.1.1.1.16.16.17.17.. agast sprg.4.4.6.6.46.46...4.4 sprg only.16.16...7.7.9.9.1.1 * Sprg grip force (SF) varies with sprg compression. The mimum sprg grip force values occur with the sprg at least compression (jaws fully closed on sprg close units and fully open on sprg open units). The maximum sprg grip force values occur with the sprg at most compression (jaws fully open on sprg close units and fully closed on sprg open units). SEALS AND FLUIDS Long life seals are standard on all Series GRS Grippers. These seals are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For temperatures outside this range, consult PHD. LIFE EXPECTANCY All standard and sprg assist units have been engeered and tested for a mimum of million trouble free cycles. Life may be extended by periodic lubrication of movg components. INTERNAL SPRINGS Internal sprgs are tended to assist the gripper and add to grip force one specific direction. Sprgs can also be used to open or close the gripper without pneumatic pressure or to mata sprg grip force if pressure is lost. Workg air pressure for sprg assist option units is psi m - 1 psi max [. bar m - 7 bar max]. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service with dry filtered air under normal operatg conditions. MATERIAL Gripper body is hardcoated alumum. Cover and jaws are hardened steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. See page -79 for examples of custom products and solutions. REPEATABILITY Grip repeatability is ±.1 [±. ] of the origal position. MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS Fa Fa Mx, My, and Mz (tension) (compression) Per Jaw Both Jaws SIZE 7 8 6 lb 11 4 76 1 N 49 98 189 8 68 lb 4 76 1 N 98 187 8 667 14 -lb 8 1 8 114 Nm.6 9 17 4 19 -lb 1 16 76 8 Nm 11 18 4 86 8 Fa: Total for both jaws. Mx, My: Allowable moments. Moments measured from the body surface. Mz: Allowable moment. Moment measured from the jaw center. Note: When calculatg values for Mx, My and Mz, clude the grip force per jaw, toolg weight, part weight, external forces, and acceleration, as applicable. When calculatg the value for Fa, clude weight of toolg, part weight, acceleration, and external forces. Mz My Mx Fa (compression) Fa (tension) Mx My www.phdc.com/grs -69
ENGINEERING DATA: SERIES GRS GRIPPERS GRIP FORCE Total grippg force relative to toolg length is shown below at the stated actuatg pressure. Grip force per jaw equals the total grip force divided by two. The graphs also dicate the maximum toolg length for each gripper size. NOTE: Grip force charts shown below have been simplified for clarity. To more precisely predict grip forces, refer to the grip force calculation equations on page -7. Toolg Length COVER SURFACE F/ PART F/ F = Total Grip Force 1 [44] SIZE 7 x 4. NOTE: Maximum SIZE 7 x 7 toolg length varies learly with pressure. 8 [6] NOTE: Maximum toolg length varies learly with pressure. TOTAL GRIP FORCE lb [N] 8 [6] 6 [67] 4 [178] [89] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] 6 psi [4 bar] SPRING ONLY 1 [] [] [7] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less TOTAL GRIP FORCE lb [N] 6 [67] 4 [178] [89] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] 1 [] [] [7] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less 1 [4] SIZE 8 x 6 NOTE: Maximum SIZE 8 x 1 toolg length varies learly with pressure. 8 [6] NOTE: Maximum toolg length varies learly with pressure. TOTAL GRIP FORCE lb [N] 1 [44] 8 [6] 6 [67] 4 [178] [89] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] 1 4 [] [] [7] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less TOTAL GRIP FORCE lb [N] 6 [67] 4 [178] [89] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] 1 4 [] [] [7] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less -7 www.phdc.com/grs
ENGINEERING DATA: SERIES GRS GRIPPERS [89] SIZE x 8 NOTE: Maximum toolg length varies learly with pressure. 1 [44] SIZE x 1 87 psi [6 bar] WITH SPRING NOTE: Maximum toolg length varies learly with pressure. TOTAL GRIP FORCE lb [N] 16 [71] 1 [4] 8 [6] 4 [178] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] 1 4 [] [] [7] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less TOTAL GRIP FORCE lb [N] 8 [6] 6 [67] 4 [178] [89] 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] 1 4 [] [] [7] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less SIZE x 19 SIZE x 8 4 [1779] NOTE: Maximum toolg length varies learly with pressure. [14] NOTE: Maximum toolg length varies learly with pressure. TOTAL GRIP FORCE lb [N] [14] [89] 1 [44] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] 1 4 6 [] [] [7] [1] [1] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less TOTAL GRIP FORCE lb [N] [89] 1 [44] 87 psi [6 bar] WITH SPRING 6 psi [4 bar] WITH SPRING 87 psi [6 bar] SPRING ONLY 6 psi [4 bar] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] 1 4 6 [] [] [7] [1] [1] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less 6 [669] SIZE 6 x NOTE: Maximum toolg length varies learly with pressure. 4 [1779] SIZE 6 x 44 NOTE: Maximum toolg length varies learly with pressure. TOTAL GRIP FORCE lb [N] [4] 4 [1779] [14] [89] 1 [44] 87 psi [6 bar] WITH SPRING 87 psi [6 bar] 6 psi [4 bar] WITH SPRING SPRING ONLY 6 psi [4 bar] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less TOTAL GRIP FORCE lb [N] [14] [89] 1 [44] 87 psi [6 bar] WITH SPRING 87 psi [6 bar] 6 psi [4 bar] WITH SPRING SPRING ONLY 6 psi [4 bar] MAXIMUM TOOLING LENGTH at 87 psi [6 bar] MAXIMUM TOOLING LENGTH at 6 psi [4 bar] or less 1 4 6 7 8 9 [] [] [7] [1] [1] [1] [17] [] [] TOOLING LENGTH [] 1 4 6 7 8 9 [] [] [7] [1] [1] [1] [17] [] [] TOOLING LENGTH [] www.phdc.com/grs -71
ENGINEERING DATA: SERIES GRS GRIPPERS TOOLING LENGTH FACTOR Jaw toolg should be designed so that the grip pot is as close to the cover surface as possible. As the grip pot is moved away from the cover surface, the applied moment causes jaw friction to crease, resultg reduced effective grip force. The Grip Force Factor (GF) values given the specifications table on page are for zero toolg length (cover surface). The grip force graphs on the previous pages show how grip force decreases as the grip pot is moved from the cover surface. The deratg factors and maximum toolg lengths are cluded the grip force graphs. DERATING FACTOR 1..9.8.7.6..4...1 SIZE 8 8 x 6 8 x 1 DERATING FACTOR 1..9.8.7.6..4...1. 1 4 [] [] [7] [1] TOOLING LENGTH [] At 1 psi [7 bar] SIZE 7. 1 [] [] [7] TOOLING LENGTH [] At 87 psi [6 bar] MAXIMUM TOOLING LENGTHS 7 x 4. At 6 psi [4 bar] or less 7 x 7 At 1 psi [7 bar] DERATING FACTOR At 87 psi [6 bar] 1..9.8.7.6..4...1 MAXIMUM TOOLING LENGTHS At 6 psi [4 bar] or less SIZE x 8 x 1. 1 4 [] [] [7] [1] TOOLING LENGTH [] At 1 psi [7 bar] At 87 psi [6 bar] MAXIMUM TOOLING LENGTHS At 6 psi [4 bar] or less DERATING FACTOR DERATING FACTOR 1..9.8.7.6..4...1 SIZE. 1 4 6 [] [] [7] [1] [1] [1] TOOLING LENGTH [] 1..9.8.7.6..4...1 SIZE 6 x 19 & x 8. 1 4 6 7 8 9 [] [] [7] [1] [1] [1] [17] [] [] TOOLING LENGTH [] At 1 psi [7 bar] 6 x & 6 x 44 At 1 psi [7 bar] At 87 psi [6 bar] At 87 psi [6 bar] MAXIMUM TOOLING LENGTHS MAXIMUM TOOLING LENGTHS At 6 psi [4 bar] or less At 6 psi [4 bar] or less -7 www.phdc.com/grs
ENGINEERING DATA: SERIES GRS GRIPPERS GRIP FORCE CALCULATION EQUATIONS: STANDARD UNIT (WITHOUT SPRING ASSIST): TOTAL GRIP FORCE lb [N] = (Pressure psi [bar] x GF ) x Toolg Length Factor SPRING ASSIST UNIT: Sprg workg with applied pressure: TOTAL GRIP FORCE lb [N] = ((Pressure psi [bar] x GF) + SF lb [N]) x Toolg Length Factor Sprg workg agast applied pressure: TOTAL GRIP FORCE lb [N] = ((Pressure psi [bar] x GF ) SF lb [N]) x Toolg Length Factor GRIP FORCE CALCULATION EXAMPLE: Gripper: Series GRS Size x 8 Coon Parameters: Jaw Position at Part Contact:.8 [71] (4% of total jaw travel from full close) Operatg Pressure = 87 psi [6 bar] Toolg Length = [7 ] 1. Determe Grip Force Factor GF = 1. [81] (from Specifications Table on page -69). Determe Toolg Length Factor =.74 [.74] (from Toolg Length Factor graph on page -7 at [7 ] toolg length). Total Grip Force Calculations: For Standard Unit (without sprg assist): GRS-1- x 8 [GRS-- x 8] Total Grip Force = 87 psi x 1. x.74 = 8 lb [6 bar x 81 x.74 = 6 N] For Sprg Assist Close Unit: GRS-1- x 8 FSR [GRS-- x 8 FSR] Sprg grip force depends on jaw position. Jaw position at part contact is 4% from full close (the ternal sprg is 4% from its mimum force). Sprg grip force SF can be determed by terpolatg between the mimum and maximum sprg grip force values the Sprg Grip Force table on page -69. Fd Sprg Grip Force SF = M. sprg force + (4% x (Max. sprg force M. sprg force)) = 9 lb + (.4 x ( lb 9 lb)) = 7 lb [1 N + (.4 x (4 N 1 N)) = 168 N] Grip close direction (sprgs workg with applied pressure): Grip Close Grip Force Factor = 1. [81] (from Specifications Table on page -69) Total Grip Force = ((87 psi x 1.) + 7 lb) x.74 = 18 lb [((6 bar x 81 N) + 168 N) x.74 = 484 N] Grip open direction (sprgs workg agast applied pressure): Grip Open Grip Force Factor = 1. [86] (from Specifications Table on page -69) Total Grip Force = ((87 psi x 1.) - 7 lb) x.74 = 8 lb [((6 bar x 86 N) - 168 N) x.74 = 8 N] Toolg Length = [7 ] F/ PART F/ COVER SURFACE.8 [71 ] F = Total Grip Force www.phdc.com/grs -7
OPTIONS: SERIES GRS GRIPPERS FSR FSE MEDIUM FORCE SPRING ASSIST CLOSE MEDIUM FORCE SPRING ASSIST OPEN Sprgs can mata sprg grip force if air pressure is lost or crease grip force one specific direction when used with air pressure. Sprg assist units are engeered and tested for a mimum of million cycles under normal operatg conditions. Workg air pressure for sprg assist units is psi m - 1 psi max [. bar m - 7 bar max]. For sprg grip forces, see specifications on page -69. B6 J9 J1 B7 LETTER DIM (B4) B B6 B7 J9 J1 P1 P P P4 P 1.1.61 1.74 1.646 1.1 1.99 1-.1 1.164.48.61 C L X P1 PORT 1 7 8 8.7 1.9 1..61 44.. 41.8 1.889.8 1.7. 1.46 M x.8 1-.1.1 9.6 1.18 1..4 1..1 P.4 1..9 48. 4. 7. M x.8.1 8.9 11. 1. 1.847.94.7.9 1.84.8 1-.6 1..91.91 SIZE 46.9. 69.9 6.8 46.8 1. M x.8 6. 9.4 1. 1..48 1.1614.99.414.89.618 1/8 NPT.89.87 1.16.96 61.9 9. 91.4 86.7 6.7 66. 1/8 BSPP 9.9..8 4. NOTES: 1) DESIGNATED C L IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED P 4 P4 P C L B (SPRING ASSIST ADDER).648 1.99 4.948 4.78.9.46 1/8 NPT.41.76 1.181 1.181 (B4) 6 9.7. 1.7 119.6 78. 88. 1/8 BSPP 1. 69... UB48 PORT OPTION IN LOCATION 48 This option provides ports location 48. The standard ports are plugged. P1* P* P17 P19 P18 P OPTIONAL SPRING ASSIST (B)* 1 (B4) 4 X P16 PORT C L (B1) (A CLOSED) PORT OPTION UB48 LETTER DIM P16 P17 P18 P19 P P1* P* (B1) (B4) (B)* (A CLOSED) 1-.76.1.4.446.1 1.6 1.78 1.1.61 1.614 7 8 M 1-7..6.1.1 11..6 11..11.1.1 6.8 1.11. 1.496 8.7 1.9 1..61 41..1 M 6..1 6. 1..1 8. 8..4 1. 4. 1-.16.6.16.78.6 1. 1.614 1.847.9.677 SIZE M. 6.. 18. 6. 9.4 41. 46.9. 68. 1-.9.9.787 1.6.9.86.8.48 1.161. M 7. 7.4. 6.9 7.4. 8. 61.9 9. 88.9 NOTES: 1) DESIGNATED C L IS CENTERLINE OF UNIT ) CIRCLED NUMBERS INDICATE POSITIONS ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED 4) * APPLIES TO SPRING ASSIST UNITS ONLY 1/8 NPT.47.94.47 1.47.94.697.9.648 1.99.748 6 1/8 BSPP 1. 1. 1..7 1. 68. 7. 9.7. 146. -74 www.phdc.com/grs
OPTIONS: SERIES GRS GRIPPERS L11-UB99 L11-UB7 MANIFOLD PORTS With these options the gripper is configured for manifold mountg on either the standard or optional mountg face, accordg to the selected option code. The standard ports are plugged. O-rg seals are provided for mountg between the gripper and the manifold. When the L11-UB7 option is specified, the GR option is automatically cluded to provide mountgs on the manifold surface. See page -76 for GR mountg formation. OPTION L11-UB7 X MANIFOLD Ø P4* P* P7 OPEN JAWS SHOWN IN CLOSED POSITION P6 C L C L P14 P1 CLOSE OPEN CUSTOMER SUPPLIED MANIFOLD Ø P1 O-RING Ø P11 MANIFOLD OPTION L11-UB7 INCLUDES MOUNTING OPTION GR (SEE GR OPTION FOR DIMENSIONS) P1 MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED FOR CUSTOMER MOUNTING SURFACE) GRIPPER O-RING I.D. O-RING CROSS-SECTION T MANIFOLD OPTION L11-UB99 REPLACEMENT MANIFOLD SEAL KITS SIZE KIT NUMBER 7 & 8 747-7-1 747--1 747--1 6 747-6-1 Manifold kit cludes o-rgs. 4 C L P9 OPTION L11-UB99 X MANIFOLD Ø P8 CLOSE 1 (A CLOSED) (B1) (B)* (B4) LETTER DIM P6 P7 P8 P9 P1 P1 O-RING (I.D. x T) P11 P1 P1 P14 P* P4* (B1) (B4) (B)* NOTES:.68.6.91.9.197.78.48.191.489.191 1.6 1.78 1.1.61 7 1.4 6. 1. 7...6.177.6.6.197 16. 4. 16. 6...768.18.768.16.197 x 1. x 1. x 1. x 1. x 1. m. 1. 4.9 1.4 4.9.6. 8.7 1..78.48.19.4.19 1.11 1.496 1.9.61 SIZE 8 6 19. 1.181. 1.811..76 7..47 19. 1.47 6. 1.811..76 7..47..6 6..6. 1. 4.8 1.8 4.8 8. 8..4 1..78.48.46.7.46 1. 1.614 1.847.94. 1. 6. 18.4 6. 9.4 41. 46.9..98.48.9 1.6.9.71.8.48 1.1614. 1. 7.4 6.9 7.4.6 8. 61.9 9..98.48.4 1.4.4.74.9.648 1.99 46. 1. 46. 1. 6.. 1. 8.7 8. 8.7 69.7 7. 9.7. 1) DESIGNATED CL IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED ) DIMENSIONS TO MANIFOLD HOLES ARE FOR LOCATION OF O-RING COUNTERBORES. MANIFOLD HOLES MAY DIFFER SLIGHTLY 4) * APPLIES TO SPRING ASSIST UNITS ONLY ) CIRCLED NUMBERS INDICATE POSITIONS www.phdc.com/grs -7
OPTIONS: SERIES GRS GRIPPERS GR MOUNTING OPTION IN LOCATION 7 This option provides mountg threads and dowel holes on the side opposite the standard ports. K11 K7 C L X K6 ±. [H7] DOWEL PIN HOLE (B)* K1 K8 K1* X K9 THD GR MOUNTING, INCLUDES FEMALE THREADS AND DOWEL PIN HOLES C L OPTIONAL SPRING ASSIST 4 C L (B1) 1 (B)* (B4) (A CLOSED) LETTER DIM K6 K7 K8 K9 K1 K11 K1* (B1) (B4) (B)* (A CLOSED).18 x.6 DP.748.866 8- x.1 DP.4 1. 1.476 1.78 1.1.61 1.614 7 8..198 x 6. DP x.6 DP 19..9449. 1.6 M x.8 1/4- x 8. DP x.1 DP 11..1 1. 1.496 7. 1.67. 1.496 8.7 1.9 1..61 41..1. x 6. DP 4. 7. M6 x 1. x 1. DP 14. 8. 4. 8..4 1. 4. SIZE.198 x.197 DP 1.78 1.417 /16-18 x.91 DP.787 1.969. 1.614 1.847.94.677. x. DP. 6. M8 x 1. x 1. DP.. 9. 41. 46.9. 68..18 x.1 DP 1.968 1.89 /8-16 x.6 DP 1.4.9.1.8.48 1.1614. NOTES: 1) DESIGNATED CL IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED ) METRIC INFORMATION SHOWN IN [ ] OR IN COLUMNS DESIGNATED 4) CIRCLED NUMBERS INDICATE POSITIONS ) *APPLIES TO SPRING ASSIST UNITS ONLY 8. x 8. DP. 48. M1 x 1. x 16. DP 6. 6. 77. 8. 61.9 9. 88.9.78 x.94 DP.1496.717 1/-1 x 1.4 DP 1.78 4.14 4.16.9.648 1.99.748 6 1. x 1. DP 8. 69. M1 x 1.7 x 6. DP. 1. 1. 7. 9.7. 146. CU SWITCH READY With this option the gripper cludes a target p attached to the jaw for use with ductive proximity switches as well as the Series 679 Solid State and Reed switches. Switches and switch mountg kits are required addition to the CU option and are sold separately. See Accessories pages for switches and mountg kits. -76 www.phdc.com/grs
ACCESSORIES: SERIES GRS GRIPPERS PROXIMITY SWITCHES (-CU OPTION REQUIRED) 4 ROUND INDUCTIVE PROXIMITY SWITCHES (SIZE 7, 8, & ) PART NUMBER 184-1- 184-- DESCRIPTION NPN (Sk) 1- VDC, meter cable PNP (Source) 1- VDC, meter cable 8 THREADED INDUCTIVE PROXIMITY SWITCHES (SIZE & 6) PART NUMBER DESCRIPTION 14-- NPN (Sk) - VDC, meter cable 14-6- PNP (Source) - VDC, meter cable PROXIMITY SWITCH MOUNTING KITS SIZE KIT NUMBER 7 & 8 766-7 766-766- 6 766-6 Each kit cludes 1 target, switch mountg brackets, and fasteners for mountg. Switches sold separately. SIZE 7, 8, & SIZE & 6 JAWS SHOWN IN CLOSED POSITION PS1** (B1) PS6 PS7* (SIZES 7, 8 & ) PS7* (SIZES & 6) PS8 OPTIONAL SPRING ASSIST APPROXIMATE LED LOCATION (4 ONLY) (B)** (B4) PS MAX SENSING DISTANCE Ø PS1 PS1 HEX SIZE (PROX CLAMP, 4 ONLY) PS4 PS9 HEX SIZE (BRACKET ADJUSTMENT) PS11 HEX SIZE PS PS LETTER DIM PS1 PS PS PS4 PS PS6 PS7* PS8 PS9 PS1 PS11 PS1** (B1) (B4)** (B)** 7 4 ROUND...6 6..4 9..9 1. 1.77..4 11..6 6..1 1..79..1 1..767 19. 1.78. 1.1 8.7.61 1. 8 4 ROUND...6 6..44 11..9 1. 1.18.9.76 7..16 4..1 1..79..1 1..68 1.4 1.496 8. 1.9.4.61 1. SIZE 4 ROUND...76 7..1 14..9 1..86 1.8.8.1. 1..1 1..79..1 1. 1.614 41. 1.847 46.9.94. 6 8 THREADED 8 THREADED..68.6.69 1..1.1.61.91.8.48 1.1614.8 17. 16. 17. 1.8 7.9 1. 1.. 8. 61.9 9...68 1.7.69.7.189.1.61.9.648 1.99.8 17. 4. 17. 19.1 4.8 1. 1. 7. 9.7. NOTES: 1) * INDICATES BOTTOM OF PROXIMITY SWITCH BARREL, DOES NOT INCLUDE CABLE. DIMENSIONS DO NOT APPLY TO SPRING ASSIST UNIT BECAUSE PROXIMITY SWITCH BARREL DOES NOT PROTRUDE ON SPRING ASSIST UNITS ) ** APPLIES TO SPRING ASSIST UNITS ONLY ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED www.phdc.com/grs -77
ACCESSORIES: SERIES GRS GRIPPERS SERIES 679 SWITCHES (-CU OPTION REQUIRED) PART NUMBER 679-1 679-1- 679-1- 6794-1 6794-1- 6794-1- 679-1 679-1- 679-1- 649-649- SERIES 679 SOLID STATE & REED SWITCHES (ALL UNITS) DESCRIPTION NPN (Sk) Solid State 4.- VDC, Quick Connect NPN (Sk) Solid State 4.- VDC, meter cable NPN (Sk) Solid State 4.- VDC, meter cable PNP (Source) Solid State 4.- VDC, Quick Connect PNP (Source) Solid State 4.- VDC, meter cable PNP (Source) Solid State 4.- VDC, meter cable PNP (Source) or NPN (Sk) DC Reed 4.- VDC, Quick Connect PNP (Source) or NPN (Sk) DC Reed 4.- VDC, meter cable PNP (Source) or NPN (Sk) DC Reed 4.- VDC, meter cable meter Cordset with Quick Connect meter Cordset with Quick Connect SERIES 679 SWITCH MOUNTING KITS SIZE 7 & 8 6 KIT NUMBER 7664-7 7664-7664- 7664-6 Each kit cludes 1 target, switch mountg brackets, and fasteners for mountg. Switches sold separately. JAWS SHOWN IN CLOSED POSITION HS* (SIZE & 6) HS* (SIZE 7, 8 & ) HS (B1) OPTIONAL SPRING ASSIST HS9** (B)** SERIES 679 SWITCH (BRACKET OBSTRUCTS VIEW OF SWITCH) HS4 (B4) HS7 HEX SIZE HS6.1 [1] HEX SIZE ORIENT TARGET AS SHOWN APPROXIMATE LED LOCATION HS LETTER DIM HS* HS HS4 HS HS6 HS7 HEX HS9** (B1) (B4) (B)**.197.6.1.46.84.1.9 1.78 1.1.61 7 8..4 6..6 8..48 6..46.1.18 1..1. 1.9. 1.496 8.7 1.9 1..61 1. 6. 1. 6. 4.7 1. 7.8 8..4 1..4.66.8.14.8.1 1.74 1.614 1.847.94 SIZE 1. 6.8 1..4 7. 1. 44. 41. 46.9. NOTES: 1) * INDICATES END OF SERIES 679 SWITCH BRACKET, DOES NOT INCLUDE CABLE ) ** APPLIES TO SPRING ASSIST UNITS ONLY ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED.6.6 1.194.96..61..8.48 1.1614 14. 6.. 7. 8. 1. 9.8 8. 61.9 9. 6 1.98.6 1.77.6 1..61.6.9.648 1.99. 6. 4.4 6. 6. 1. 76.4 7. 9.7. -78 www.phdc.com/grs
APPLICATIONS & CONCEPTS: SERIES GRS GRIPPERS The combation of a PHD Series RI Rotary Actuator, GRS Gripper, STP Slide and SM Slide creates an automated part handler capable of complex part movements. The high grip force of the PHD Series GRS Gripper assures secure product retention this conveyor fed lathe loadg operation. Workg conjunction, a PHD Series GRS Gripper and PHD Series RI Rotary Actuator provide the ability to grip and rotate products for further processg. The PHD Series SM Slide elimates the need for a lift table durg the vertical movement of the products. With the use of manifoldg between the Series GRS Gripper and the Series RI Rotary Actuator, simplified plumbg of air les is achieved. Series SM Slide Series RI Rotary Actuator with manifold Series SM Slide Series STP Slide Series GRS Gripper with manifold Air les for Series GRS Gripper Series GRS Gripper Series RI Rotary Actuator Air les for Series RI Rotary Actuator CUSTOM PRODUCTS & SOLUTIONS Illustrations shown are for concept only. Other variations clude: Smaller or larger bore sizes Shorter or longer strokes Fluid compatibility Alternate port locations Alternate mountg locations Contact PHD, Inc. with your product requirements. ALTERNATE JAW STYLE ALTERNATE JAW STYLE PRESSURE / VACUUM PORT STROKE ADJUSTMENT ADDITIONAL DOWEL HOLES FOR FIXTURING OR NESTING OF PART www.phdc.com/grs -79
ORDERING DATA: SERIES GRL GRIPPERS position. TO ORDER SPECIFY: Product Le, Series, Type, Synchronization, Jaw, Design No., Size, Total Jaw Travel, and Options required. OPTIONAL: MANIFOLD LOCATION 99 OPTIONS (OMIT IF NOT REQUIRED) MANIFOLD OPTIONS L11-UB99 - Manifold option location 99 UNIT OPTIONS E - Hall Switch Ready DESIGN NO. (See Note 1) 1 - Imperial - Metric SYNCHRONIZATION - Non-synchronized 1 - Synchronized SERIES Regular Duty STANDARD PORT LOCATION - 1-14 x 1 - L11-UB99 1 L R G TOTAL JAW TRAVEL = (OPEN POSITION - CLOSED POSITION) MINIMUM TOTAL JAW TRAVEL Total Travel Per Bore Size BORE SIZE Diameter JAW Style TYPE Narrow Body Parallel PRODUCT LINE G - Gripper OPEN POSITION CLOSED POSITION () (.76) (.1) (.787) (1.4) 7 1 6 () (.1) (.1) (.6) (.6) 14 14 16 16 6 SQUARE HALL EFFECT SWITCHES NOTE: 1) Design number dictates imperial or metric mountg holes, dowel p holes, and ports. DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect COLOR Yellow Red Yellow Red PART NUMBER 8-1- 84-1- 8-1 84-1 HALL EFFECT SWITCH MOUNTING KIT DESCRIPTION Switch Mountg Kit PART NUMBER 68487-1 CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. Each mountg kit contas: 1 6 square switch bracket 1 mountg screw PRODUCTS CUSTOM CUSTOM N EED T O FIT -8 www.phdc.com/grl
BENEFITS: SERIES GRL GRIPPERS BENEFITS Parallel jaw motion simplifies jaw toolg design and is ideal for grippg parts of varyg sizes. Double actg for use both ternal and external grippg applications. Narrow width, low profile and long jaw travel for a wide range of applications where space is limited. Rugged jaw support and hardcoated bearg surfaces ensure long service life. Jaws and body feature dowel p holes for accurate toolg alignment. Available either synchronous or non-synchronous versions Optional manifold ports allow elimation of external air les. Optional 6 square Hall Effect switches are available for dication of jaw position and simple terfacg to electronic system controls. Hardened Steel Jaws with Precision Dowel Holes Hardcoated Alumum Body Removable Hardened Steel Synchronizer Anodized Alumum Pistons Pressure Energized Seals SPECIFICATIONS GRLx-x-14x7 GRLx-x-14x1 GRLx-x-16x GRLx-x-16x6 WORKING AIR PRESSURE psi m. to 1 psi max. [. bar m. to 7 bar max.] TOTAL GRIP FORCE AT 87 psi [6 bar] 8 lb [14 N] lb [1 N] 41 lb [18 N] 41 lb [18 N] TOTAL JAW TRAVEL.8 [7 ].1 [1 ].79 [ ] 1. [6 ] BORE DIAMETER ( bores). [14 ]. [14 ].6 [16 ].6 [16 ] UNIT WEIGHT.18 lb [.8 kg].4 lb [.11 kg].9 lb [.18 kg].47 lb [.1 kg] MAX. TOOLING LENGTH AT 1 psi [7 bar] [7 ] [7 ] 4 [1 ] [1 ] www.phdc.com/grl -81
DIMENSIONS: SERIES GRL GRIPPERS X Ø K4 ±. [K4 H7] K K K THD K1 X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) P4 B1 P X SEE SWITCH OPTION FOR DETAILS P B J CLOSE OPEN J B 6 A (OPEN) +.16 -. A (CLOSED) +. -.7 +.4 -. +. -.18 X P1 PORT B4 X PLUGGED MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) J4 1 J1 J 4X Ø J1 ±. [J1 H7] 4 J7 J8 J6 J9 THD NOTES: 1) NUMBERS IN [ ] ARE. ) CIRCLED NUMBERS INDICATE POSITIONS. -8 www.phdc.com/grl All dimensions are reference only unless specifically toleranced.
DIMENSIONS: SERIES GRL GRIPPERS LETTER DIM MIN TRAVEL PER JAW A CLOSED A OPEN B1 B B B4 J1 J J J4 J J6 J7 J8 J9 J1 K1 K K K4 K P1 P P P4 MODEL NUMBER GRLx-x-14x7 GRLx-x-14x1 GRLx-x-16x GRLx-x-16x6.18 1. 1.778.16.748 1.1 1.98.7.4 1.16.118.79..1 4 x 4-4 x.19 DP.789 x.118 DP.94.7 4 x 4-4 x.1 DP.947 x.17 DP 1-.67.96.4. 8.1 4. 8.8 19. 8. 48. 19.1.69 9.. 14. 6.4 7.9 4 x M x. x 4.8 DP. x. DP 1.1 19.1 4 x M x. x.8 DP. x 4. DP M x.8 17.1 7. 9..6 1.7.64..748 1.1.614.87.4 1.16.118.689..48 4 x 4-4 x.19 DP.789 x.118 DP.94.7 4 x 4-4 x.1 DP.947 x.17 DP 1-.67.4.6 6. 44. 7. 76.8 19. 8. 66.4..69 9.. 17. 6.4 11.11 4 x M x. x 4.8 DP. x. DP 1.1 19.1 4 x M x. x.8 DP. x 4. DP M x.8 17.1 11. 16..94..4.9.874 1..497 1.1.4 1.81.118.9..6. 6 x -4 x.19 DP.789 x.118 DP.66 1. 8 x -4 x.197 DP.19 x.17 DP 1.77 1-.778.1 1. 1. 7. 77. 99.. 1. 88.8 8.6.69... 6.4 1.88 6. 6 x M x. x 4.8 DP. x. DP 16.7.4 8 x M x. x. DP. x 4. DP 4. M x.8 19.8 1. 1..1.6.6 4.614.874 1. 4.6 1.1.4 1.81.118 1.14..7. 6 x -4 x.19 DP.789 x.118 DP.66 1. 8 x -4 x.197 DP.19 x.17 DP 1.77 1-.778.689 1.7 NOTES: 1) NUMBERS IN [ ] ARE. ) ALL DIMENSIONS ARE CENTERED ON CENTERLINE OF UNIT UNLESS OTHERWISE SPECIFIED. 1. 66.7 9.8 117.. 1. 16.8..69.. 8. 6.4 19. 6. 6 x M x. x 4.8 DP. x. DP 16.7.4 8 x M x. x. DP. x 4. DP 4. M x.8 19.8 17. 4. All dimensions are reference only unless specifically toleranced. www.phdc.com/grl -8
ENGINEERING DATA: SERIES GRL GRIPPERS GRIP FORCE Total grippg force relative to toolg length is shown below at 87 psi [6 bar] actuatg pressure. Grip force per jaw equals the total grip force divided by two. The chart also dicates the maximum toolg length for each gripper size. TOTAL GRIP FORCE lb [N] 4 [] 4 [178] [16] [1] [111] [89] 1 [67] 1 [44] [] GRL14x7 87 psi [6 bar] GRL14x1 MAX TOOLING LENGTH 1 4 [] [] [7] [1] [1] TOOLING LENGTH [] F/ GRL16x PART F = Total Grip Force MAX TOOLING LENGTH GRL16x6 Body Surface Toolg Length F/ MAX TOOLING LENGTH TOOLING LENGTH FACTOR Jaw toolg should be designed so that the grip pot is as close to the body surface as possible. As the grip pot is moved away from the body surface, the applied moment causes jaw friction to crease, resultg reduced effective grip force. The Grip Force Factor (GF) values given the specifications chart on the followg page are for zero toolg length (body surface). The adjacent chart shows how grip force decreases as the grip pot is moved from the body surface. The deratg factors and maximum toolg lengths are cluded the graph above. DERATING FACTOR 1..9.8.7.6..4. TOOLING LENGTH FACTOR GRL14x1 GRL16x GRL16x6 GRL14x7 PART Toolg Length Body Surface..1. MAX TOOLING LENGTH 1 4 6 [] [] [7] [1] [1] [1] TOOLING LENGTH [] MAX TOOLING LENGTH MAX TOOLING LENGTH -84 www.phdc.com/grl
ENGINEERING DATA: SERIES GRL GRIPPERS SPECIFICATIONS SIZE GRL 14x7 GRL 14x1 GRL 16x GRL 16x6 MINIMUM TOTAL JAW TRAVEL.8.1.79 1. 7 1 6 TOTAL CLOSE GRIP FORCE AT 87 psi [6 bar] lb 8 41 41 N 14 1 18 18 GRIPPER WEIGHT lb kg.18.8.4.11.9.18.47.1 CLOSE OR OPEN TIME 87 psi [6 bar] sec.8.1.11.1 DISPLACEMENT cm.14..4 4..49 8.1.66 1 GRIP FORCE FACTOR (GF) EXTERNAL GRIP imperial..4.47.47 metric 1 INTERNAL GRIP imperial..4.47.47 metric 1 SEALS AND FLUIDS Long life seals are standard on all Series GRL Grippers. These seals are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For higher temperatures, consult PHD. LIFE EXPECTANCY All standard units have been designed and tested for a mimum of million trouble free cycles, with mimal wear. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service with dry filtered air under normal operatg conditions. Lubricated air may crease the life of the unit. MATERIAL Gripper body is hardcoated alumum. Jaws are hardened steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. REPEATABILITY Grip repeatability is with ±.1 [±. ] of the origal position. Mx Per Jaw Total Both Jaws ( x Mx) My Per Jaw Total Both Jaws ( x My) Mz Per Jaw Total Both Jaws ( x Mz) MAX. ALLOWABLE MOMENTS ON GRIPPER JAWS GRLx-x-14 x 7 -lb Nm 4.7 48.4 4.7 48.4. 4 4. GRLx-x-14 x 1 -lb Nm.4 6 6.8.4 6 6.8.8.6 Mx, Mz: Allowable moments per jaw. Moments measured from the body surface. My: Allowable moment per jaw. Moment measured from the jaw center. GRLx-x-16 x -lb Nm 4.1 9 1 4.1 9 1 4. 7 7.9 GRLx-x-16 x 6 -lb Nm 6. 11 1 6. 11 1 4.1 9 1 NOTE: When calculatg values for Mx, My and Mz, clude the grip force per jaw, toolg weight, part weight, external forces, and acceleration as applicable. Mz My Mx Mx My GRIPPER CALCULATION EXAMPLE TOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Toolg Length Factor Example: GRL1-1-16x, [GRL1--16x] Operatg Pressure = 87 psi [6 bar] Fd Grip Force Factor GF =.47 [] (from Specifications above) Fd Toolg Length Factor =.6 [.6] (See Toolg Length Factor graph, page -84) (Toolg Length of [7 ].6 [.6]) Total Grip Force = 87 psi x.47 x.6 = lb [6 bar x x.6 = 18 N] F/ PART F = Total Grip Force Body Surface Toolg = [7 ] Length F/ www.phdc.com/grl -8
OPTIONS: SERIES GRL GRIPPERS L11-UB99 This option configures the gripper for manifold mountg on the standard mountg surface. The standard ports are plugged. O-rgs are provided for sealg between the gripper and the manifold. MANIFOLD OPTION L11-UB99 TYPE IMPERIAL METRIC GRLx-x-14x7 681-14-1-1 681-14--1 Manifold kit cludes port plugs and o-rgs. MANIFOLD REPLACEMENT KIT NUMBER GRLx-x-14x1 GRLx-x-16x 681-14-1-1 681-16-1-1 681-14--1 681-16--1 GRLx-x-16x6 681-16-1-1 681-16--1 MANIFOLD OPTION L11-UB99 CUSTOMER SUPPLIED MANIFOLD P9 GRIPPER P6 (B1) Ø P7 Ø P8 O-RING I.D. P C L CLOSE X Ø (P7) CUSTOMER MANIFOLD COUNTERBORE 1 OPEN X Ø (P8) CUSTOMER MANIFOLD HOLE 4 6 O-RING O-RING CROSS-SECTION T MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED ON CUSTOMER MOUNTING SURFACE) X STANDARD PORTS MODEL NUMBER PLUGGED AT FACTORY LETTER GRLx-x-14x7 GRLx-x-14x1 GRLx-x-16x GRLx-x-16x6 DIM (B1) P P6 P7.16.18.787.197 8.8.....18.787.197 76.8....9.17 1.78.197 99. 4... 4.614.17 1.78.197 117. 4... P7 O-RING (I.D. X T) x 1. x 1. x 1. x 1. P8 P9.78.48. 1..78.48. 1..78.48. 1..78.48. 1. NOTES: 1) ALL DIMENSIONS ARE CENTERED ON CENTERLINE OF UNIT UNLESS OTHERWISE SPECIFIED. ) CIRCLED NUMBERS INDICATE POSITIONS. -86 www.phdc.com/grl All dimensions are reference only unless specifically toleranced.
OPTIONS: SERIES GRL GRIPPERS E The -E option is comprised of Hall Effect magnets stalled the pistons to actuate PHD 6 square Hall Effect Switches. PHD Hall Effect Switches and mountg kits are required addition to the -E option and are sold separately. See charts below for switches and mountgs. GRL 14 BORE UNITS SENSE ON CLOSE SENSE ON OPEN GRL 16 BORE UNITS (B) HS HS4 HEX WIDTH HS HS1 1 (J) 4 LETTER DIM (B) (J) HS1 HS HS HS4 HEX 6 GRLx-x-14x7.748 19. 1.16 9. 6 SQUARE.11 1..4 1.7. -E HALL SWITCH READY MODEL NUMBER GRLx-x-14x1 GRLx-x-16x.748 19..874. 1.16 9. 1.81. 6 SQUARE 6 SQUARE.11 1..611 1..4 1.7.4 1.7.. NOTE: MAXIMUM FITTING DIAMETER IS Ø.94 [Ø 1. ] WHEN USED WITH PHD HALL SWITCHES. GRLx-x-16x6.874. 1.81. 6 SQUARE.611 1..4 1.7. PART NO. 8-1- 84-1- 8-1 84-1 6 SQUARE HALL EFFECT SWITCHES COLOR Yellow Red Yellow Red DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect HALL EFFECT SWITCH MOUNTING KIT PART NO. DESCRIPTION 68487-1 Switch Mountg Kit Each mountg kit contas: 1 6 square switch bracket 1 mountg screw www.phdc.com/grl -87
APPLICATIONS & CONCEPTS: SERIES GRL GRIPPERS MULTIPLE PART TRANSFER In this application example the narrow profile long stroke capability of this gripper allows for multiple parts to be transferred simultaneously. Four of the preformed cosmetic case shells are grasped and placed to a formg die. The formg die cos and tapers the end of the shell to form the fal case. Due to the long jaw travel, the gripper is able to grasp the part before and after it is formed. The fished parts are then transferred to the next operation. 4 narrow grippers side by side CUSTOM PRODUCTS & SOLUTIONS Illustrations shown are for concept only. Other variations clude: Smaller or larger bore sizes and strokes Stroke adjustment on open Fluid compatibility Alternate materials Contact PHD, Inc. with your product requirements. SPRING CLOSE END PORT ADDITIONAL MOUNTINGS AND MANIFOLD ALTERNATE JAW STYLE ALTERNATE JAW STYLE SEALED UNIT -88 www.phdc.com/grl
NOTES www.phdc.com/grl -89
ORDERING DATA: SERIES GRW GRIPPERS TO ORDER SPECIFY: Product Le, Series, Type, Synchronization, Jaw, Design No., Size, Total Jaw Travel, and Options required. SERIES Regular Duty SYNCHRONIZATION - Non-synchronized 1 - Synchronized DESIGN NO. (See Note 1) 1 - Imperial - Metric OPTIONS (OMIT IF NOT REQUIRED) MANIFOLD OPTIONS L11-UB99 - Manifold option location 99 L11-UB7 - Manifold option location 7 UNIT OPTIONS Z1 - Corrosion resistant coatg on exposed ferrous parts except for jaw guides. STANDARD PORT LOCATION 99 OPTIONAL: MANIFOLD LOCATION 7 OPTIONAL: MANIFOLD LOCATION G R W 1-1 - 16 x - L11-UB99 PRODUCT LINE G - Gripper 4 ROUND INDUCTIVE PROXIMITY SWITCHES (16, & BORE UNITS) PART NUMBER 184-1- 184-- DESCRIPTION NPN (Sk) 1- VDC, meter cable PNP (Source) 1- VDC, meter cable 8 THREADED INDUCTIVE PROXIMITY SWITCHES (4 & BORE UNITS) PART NUMBER DESCRIPTION 14-- NPN (Sk) - VDC, meter cable 14-6- PNP (Source) - VDC, meter cable TYPE Wide Body Parallel JAW Style PART NUMBER 8-1- 84-1- 8-1 84-1 BORE SIZE Diameter 16 4 () (.6) (.984) (1.6) (1.7) (1.969) 6 SQUARE HALL EFFECT SWITCHES COLOR Yellow Red Yellow Red NOMINAL TOTAL JAW TRAVEL Total Travel Per Bore Size 6 91 117 () (.79) (.9) (.6) (.8) (4.61) DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect TOTAL JAW TRAVEL = (OPEN POSITION - CLOSED POSITION) OPEN POSITION CLOSED POSITION NOTE: 1) Design number dictates imperial or metric mountg holes, dowel p holes, and ports. SIZE 16 4 PROXIMITY SWITCH MOUNTING KITS KIT NUMBER STANDARD PLATING 671-16- 671-- 671--6 6847-4-91 6847--117 -Z1 PLATING 6846-16- 6846-- 6846--6 68466-4-91 68466--117 SIZE 16 4 HALL EFFECT SWITCH MOUNTING KITS PRODUCTS CUSTOM CUSTOM N EED T O FIT KIT NUMBER STANDARD PLATING 68446-16- 68446-- 68446--6 68446-4-91 68446--117 -Z1 PLATING 68467-16- 68467-- 68467--6 68467-4-91 68467--117 CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. -9 www.phdc.com/grw
BENEFITS: SERIES GRW GRIPPERS BENEFITS True parallel synchronous jaw motion simplifies jaw toolg design. Large diameter jaw guides supported through the length of the body provide superior jaw stability, long allowable toolg lengths, and high moment capability. Standard shock pads at both ends of jaw travel provide quiet operation and absorb impact. Double actg for use both ternal and external grippg applications. Specially formulated piston and rod seals provide long service life. Optional manifold portg available on either of the two standard mountg surfaces. Optional 4 and 8 round ductive proximity switches or 6 square Hall Effect switches are available for dication of jaw position and simple terfacg to electronic system controls. PATENT PENDING Units can be field converted to a non-synchronous version. Units are fully field repairable. Anodized Alumum Jaw Hard Chrome Plated Steel Jaw Guides Hardcoated Alumum Body Removable Synchronizer External Shock Pads Standard units are Hall Effect and proximity switch ready. Internal Shock Pads Long-life Piston Seals Long-life Rod Seals Staless Steel Piston Rod SPECIFICATIONS SIZE 16 SIZE SIZE SIZE 4 SIZE WORKING AIR PRESSURE 4 psi m. to 1 psi max. [ bar m. to 7 bar max.] TOTAL GRIP FORCE AT 87 psi [6 bar] 6 lb [16 N] 9 lb [4 N] 17 lb [76 N] 7 lb [91 N] 49 lb [198 N] TOTAL JAW TRAVEL.79 [ ].9 [ ].6 [6 ].8 [91 ] 4.61 [117 ] BORE DIAMETER ( bores).6 [16 ].98 [ ] 1.6 [ ] 1.7 [4 ] 1.97 [ ] UNIT WEIGHT.69 lb [. kg]. lb [1.1 kg]. lb [.4 kg] 11. lb [.1 kg].1 lb [1. kg] MAX. TOOLING LENGTH [1 ] 8 [ ] 14 [ ] 18 [4 ] 4 [6 ] www.phdc.com/grw -91
DIMENSIONS: SERIES GRW GRIPPERS B (BODY) DIMENSIONS SHOWN APPLY TO ALL SIZES UNLESS NOTED OTHERWISE, SEE OTHER VIEWS FOR SIZE DEPENDENT FEATURES X P1 PORT WITH SPOTFACE SIZE AND LARGER P4 P 6 C L C L J9 4 B1 C (JAW) L 1 C L 4X Ø B (JAW GUIDE) P J1 (JAW) X P1 PORT WITH SPOTFACE SIZE 16 J11 LETTER DIM NOM TRAVEL PER JAW A CLOSED* A OPEN* B1 B B B4 B J1 J J J4 J J6 J7 J8 J9 J1 J11 J1 K1 K K K4 K K6 K7 K8 K9 K1 K11 K1 K1 K14 K1 P1 P P P4 P P6.94.9.66 1.6 1.6 1.987.6.1 8- thru.18 thru.7 1..7.187.48.81 1. 1.7..94 8- x. DP.18 x.188 DP.7 1..81.17.6.94.7 1..98.6 8- x.8 DP.18 x.188 DP N/A 1-.118 N/A N/A.1.94 16 4X J1 THD J6 1. 7.7 9.. 41.. 1.6 8. M4 x.7 thru. thru 19. 1.8 17.8 4.7 11.1.7. 4..6 1. M4 x.7 x. DP. x. DP 19.1 1.8.7 4. 6. 1. 19.1 1.8. 16. M4 x.7 x 7. DP. x 6. DP N/A M x.8. N/A N/A 14. 4. 1.4.8 7.8 1.79.44.1.6.47 1- x. DP.198 x. DP 1. 1.6.87.188. 1. 1.64.18. 1.8 1- x. DP.18 x. DP.787..78.6 N/A 1..7. N/A.89 1- x.7 DP.18 x. DP N/A 1- N/A 1.6 1.6.768 1.98 J J/ C L 6. 16.7 187. 4. 7. 81. 1.6 1. M x.8 x 1. DP. x 1. DP.4 41.. 4.8 1.7.4 4. 4.8.8 6.1 M x.8 x 6. DP 4. x 6. DP..8 18.7 1.88 N/A 1.7 19. 7.1 N/A.7 M x.8 x 9. DP 4. x 6. DP N/A M x.8 N/A.. 19.. SIZE 1.8 6.7 9..6.874.99.1.6 1/4- x.7 DP.198 x. DP 1..1 1.188..687 1.1.4.79.4 1.7 1/4- x.4 DP.198 x.44 DP.7. 1.4.7 N/A N/A 1.. N/A 1.181 1/4- x.49 DP.198 x.44 DP N/A 1/8 NPT N/A 1. 1.9 1.161 1.67. 17.9 4.4 6. 7. 99.8. 16. M6 x 1. x 19. DP. x 1. DP 1.7 4.. 6. 17.4. 6.9 71. 1..4 M6 x 1. x 9. DP. x 11. DP 19..8 6. 19. N/A N/A.4.8 N/A. M6 x 1. x 1. DP. x 11. DP N/A 1/8 BSP N/A.4 4.4 9. 4. 1.791 9.1 1.6.91.4.9.1.787 /16-18 x 1. DP.198 x. DP 1.1. 1.6..968 1.6.8.4.4 1.7 1/4- x.47 DP.198 x.44 DP N/A. 1.1 1.1.6 N/A 1.. N/A 1.47 /16-18 x.61 DP.198 x.44 DP N/A 1/8 NPT N/A 1.868.4 1.1.69 4 4. 1.8.7 74. 89. 16.9.. M8 x 1. x. DP. x 1. DP. 7. 41. 1.7 4.6 41. 7. 86.4 1. 44.1 M6 x 1. x 1. DP. x 11. DP N/A 6. 9. 8.6 14. N/A 1.8 6. N/A 7. M8 x 1. x 14. DP. x 11. DP N/A 1/8 BSPP N/A 47.4 7...6. 11.64 16.17.4 4.8 6.9.8.984 /8-16 x 1. DP.18 x.1 DP.7.7 1.66.8.78 1.969.4 4.49.4.1 /16-18 x.1 DP.18 x. DP.. 1.94 1.4.67. 4..118 N/A 1.77 /8-16 x.79 DP.18 x. DP 1.4 1/8 NPT N/A.69.91 1.71.697 8. 9.8 41.4 9. 11. 176.1 6.. M1 x 1. x. DP 8. x 1. DP 6. 8.7 4. 7. 19.9. 87. 11. 1.. M8 x 1. x 14. DP 8. x 1. DP 76. 19.7 4. 4. 17. 6. 11.6 1. N/A 4. M1 x 1. x 18. DP 8. x 1. DP 6. 1/8 BSPP N/A 67.. 4. 68. CLOSE CLOSE P P6 J8 J7 OPEN B4 B A CLOSED* A OPEN 6 OPEN +.4 -. X J1 SEE SENSOR OPTION FOR STANDARD SENSOR MTG DIMENSIONS NOMINAL TRAVEL PER JAW NOTES: 1) DESIGNATED C L IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED ) METRIC INFORMATION SHOWN IN [ ] 4) UNMARKED HOLES ARE USED FOR PHD MANUFACTURING, CONTACT PHD IF DIMENSIONAL INFORMATION IS REQUIRED ) CIRCLED NUMBERS INDICATE POSITIONS. J J4 X J ±. [H7] DOWEL PIN HOLE *A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION -9 www.phdc.com/grw
MOUNTING DIMENSIONS: SERIES GRW GRIPPERS SIZE 16 K6 6 K4 K C L X K1 THD SIZE 6 K4 K C L 8X K1 THD K (K1) K7 K11 4 C L K9 C L X K ±. [H7] DOWEL PIN HOLE X K14 ±. [H7] DOWEL PIN HOLE K6 K (K1) 4 K9 C L X K ±. [H7] DOWEL PIN HOLE X K14 ±. [H7] DOWEL PIN HOLE C L K11 K8 K1 1 4X K1 THD 1 K8 K1 4X K1 THD SIZE 6 K4 K C L 8X K1 THD SIZE 4 6 K4 C L 6X K1 THD K6 K6 K7 K K K9 C L X K ±. [H7] DOWEL PIN HOLE X K14 ±. [H7] DOWEL PIN HOLE C L K9 X K ±. [H7] DOWEL PIN HOLE X K14 ±. [H7] DOWEL PIN HOLE (K1) (K1) 4 C L 4 C L K1 1 X K1 THD K1 1 X K1 THD SIZE 6 K4 K C L 1X K1 THD K7 K6 K K9 C L X K ±. [H7] DOWEL PIN HOLE X K14 ±. [H7] DOWEL PIN HOLE (K1) 4 C L K1 K8 K1 1 6X K1 THD www.phdc.com/grw -9
ENGINEERING DATA: SERIES GRW GRIPPERS SIZE 16 4 NOMINAL TOTAL JAW TRAVEL.79.9.6.8 4.61 6 91 117 TOTAL CLOSE GRIP FORCE AT 87 psi [6 bar] lb 6 9 17 7 49 N 16 4 76 91 198 GRIPPER WEIGHT lb kg.69.. 1.1..4 11..1.1 1. MAX. ALLOWABLE FORCES AND MOMENTS ON GRIPPER JAWS SIZE 16 SIZE SIZE SIZE 4 -lb Nm -lb Nm -lb Nm -lb F A Total both jaws 6 7 1 67 44 14 Mz Per Jaw Total Both Jaws ( x Mz) 4 9 1 1 11 6 4 68 9 78 My Per Jaw Total Both Jaws ( x My) 1 11 8 7 64 79 18 89 178 11 Mx Per Jaw Total Both Jaws ( x Mx) 1 11 8 7 64 79 18 89 178 11 Mx, My, Mz: Moment allowables, with moments measured from the body surface. SPECIFICATIONS CLOSE OR OPEN TIME 87 psi [6 bar] sec.9.14.4..6 SEALS AND FLUIDS Long life seals are standard on all Series GRW Grippers. These seals are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For higher temperatures, consult PHD. LIFE EXPECTANCY All standard units have been designed and tested for a mimum of million trouble free cycles, with mimal wear. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service with dry filtered air under normal operatg conditions. MATERIAL Gripper body is made of hardcoated alumum. Jaws are anodized alumum and jaw guides are hard chrome plated steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. REPEATABILITY Grip repeatability is with ±.1 [±. ] of the origal position. When calculatg values for Mx, My, and Mz, clude the grip force per jaw, toolg weight, part weight, external forces, and acceleration as applicable. When calculatg the value for F A, clude weight of toolg, part weight, acceleration, and external forces. My TOP VIEW Body Surface My Mx FRONT VIEW F A Body Surface Mx SIDE VIEW Mz Nm 6 44 88 14 48 14 48 Body Surface SIZE -lb Nm 6 116 9 11 18 64 98 8 96 64 98 8 96 DISPLACEMENT cm. 4. 1.9 6.19 7. 114 14. 9 GRIP FORCE FACTOR (GF) EXTERNAL GRIP Imperial.41 1. 1.96.8 4.9 metric 6 66 16 14 18 INTERNAL GRIP Imperial.49 1.1.17.61.49 metric 1 78 14 168 4 TOOLING LENGTH FACTOR Jaw toolg should be designed so that the grip pot is as close to the body surface as possible. As the grip pot is moved away from the body surface, the applied moment causes jaw friction to crease, resultg reduced effective grip force. The Grip Force Factor (GF) values given the specifications chart above are for zero toolg length (body surface). The charts below show how grip force decreases as the grip pot is moved from the body surface. The deratg factors and maximum toolg lengths are cluded the graphs on page -9. DERATING FACTOR DERATING FACTOR DERATING FACTOR SIZE 16, & 1..9.8.7.6..4.. MAX MAX MAX.1 TOOLING LENGTH TOOLING LENGTH TOOLING LENGTH. 4 6 8 1 1 14 16 [] [1] [1] [] [] [] [] [4] TOOLING LENGTH [] SIZE 16 SIZE SIZE 4 1..9.8 MAX.7 TOOLING.6 LENGTHS..4...1. 4 6 8 1 1 14 16 18 [] [1] [1] [] [] [] [] [4] [4] TOOLING LENGTH [] SIZE Body Surface 1..9.8 MAX.7 TOOLING.6 LENGTHS..4...1. 4 6 8 1 1 14 16 18 4 [] [1] [1] [] [] [] [] [4] [4] [] [] [6] TOOLING LENGTH [] at 1 psi [7 bar] Toolg Length at 1 psi [7 bar] at 8 psi [. bar] SIZE at 8 psi [. bar] PART at 6 psi [4 bar] at 6 psi [4 bar] at 4 psi [ bar] at 4 psi [ bar] -94 www.phdc.com/grw
ENGINEERING DATA: SERIES GRW GRIPPERS GRIP FORCE Total grippg force relative to toolg length is shown below at the stated actuatg pressure. Grip force per jaw equals the total grip force divided by two. The chart also dicates the maximum toolg length for each gripper size. TOTAL GRIP FORCE lb [N] [89] 18 [81] 16 [71] 14 [6] 1 [4] 1 [44] 8 [6] 6 [67] 4 [178] [89] SIZE CLOSE SIZE OPEN SIZE 16 OPEN SIZE 16 CLOSE SIZE 16,, 87 psi [6 bar] SIZE CLOSE MAX TOOLING LENGTH SIZE OPEN MAX TOOLING LENGTH Toolg Length F/ PART F/ F = Total Grip Force MAX TOOLING LENGTH 4 6 8 1 1 14 16 [] [1] [1] [] [] [] [] [4] TOOLING LENGTH [] [111] SIZE 4 TOTAL GRIP FORCE lb [N] [89] 1 [667] 1 [44] [] SIZE 4 CLOSED, 87 psi [6 bar] SIZE 4 CLOSED, 4 psi [ bar] SIZE 4 OPEN, 87 psi [6 bar] SIZE 4 OPEN, 4 psi [ bar] 4 6 8 1 1 14 16 18 [] [1] [1] [] [] [] [] [4] [4] TOOLING LENGTH [] NOTE: Maximum toolg length varies learly with pressure. MAX TOOLING LENGTH at 87 psi [6 bar] MAX TOOLING LENGTH at 4 psi [ bar] [4] SIZE TOTAL GRIP FORCE lb [N] 4 [1779] [14] [89] SIZE CLOSED, 87 psi [6 bar] SIZE OPEN, 4 psi [ bar] SIZE OPEN, 87 psi [6 bar] MAX TOOLING LENGTH at 87 psi [6 bar] NOTE: Maximum toolg length varies learly with pressure. SIZE CLOSED, 4 psi [ bar] 1 [44] MAX TOOLING LENGTH at 4 psi [ bar] 4 6 8 1 1 14 16 18 4 [] [1] [1] [] [] [] [] [4] [4] [] [] [6] TOOLING LENGTH [] GRIPPER CALCULATION EXAMPLE TOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Toolg Length Factor GRW1-1-- [GRW1---] Operatg Pressure = 87 psi [6 bar] External Grip Fd Grip Force Factor GF = 1. [66.4] (from Specifications chart, page -94) Fd Toolg Length Factor =.64 [.64] (See Toolg Length Factor graph) (Toolg Length of 6 [1 ].64 [.64]) Total Grip Force = 87 psi x 1. x.64 = 7 lb [6 bar x 66.4 x.64 = N] Toolg Length = 6 [1 ] F/ PART F/ F = Total Grip Force www.phdc.com/grw -9
OPTIONS: SERIES GRW GRIPPERS L11-UB99 L11-UB7 With this option the gripper is configured for manifold mountg on one of the two standard mountg surfaces, accordg to the selected option code. The standard ports are plugged. O-rg seals are provided for mountg between the gripper and the manifold. TYPE IMPERIAL METRIC SIZE 16 679-16-1-1 679-16--1 MANIFOLD REPLACEMENT KIT NUMBER SIZE 679--1-1 679---1 SIZE 679--1-1 679---1 Manifold kit cludes port plugs and o-rgs. SIZE 4 679-4-1-1 679-4--1 SIZE 679--1-1 679---1 MANIFOLD OPTION L11-UB99 MANIFOLD OPTION L11-UB7 MANIFOLD OPTION L11-UB7 A CLOSED P11 CL 6 CUSTOMER SUPPLIED MANIFOLD P1 GRIPPER (B) Ø P1 Ø P1 Ø P14 SEE NOTE O-RING I.D. CLOSED MANIFOLD OPTION L11-UB99 P8 CLOSED MANIFOLD Ø 4 P7 CL MANIFOLD Ø SIZE 16 ONLY, SEE NOTE 6 1 OPEN MANIFOLD Ø SIZES LARGER THAN SIZE 16 OPEN CL P1 (B1) P9 LETTER DIM P7 P8 P9 P1 P11 P1 P1 O-RING (I.D. x T) P1 P1 O-RING (I.D. x T) P14 P1 (B1) (B) A CLOSED NOTES:.6.77.67.6 O-RING CROSS-SECTION T MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED ON CUSTOMER MOUNTING SURFACE) 4... 6.7.. 1.9.177.6 1.417 1.9.6 4.4 4. 6. 6. 4.4 6..4.197. 1.71.4.76 7.. 8. 4. 7. 7..91.6.6 1.969.91.76.1.48.91.4 9.1. 1. 74. 89. 1.8.1.48.4 4.8 11.64 74.4 6. 6.. 74.4 7..76 7. See Note See Note See Note See Note 4 x 1. See Note See Note See Note See Note.98.48 1.6 1.6.9 16 1.9 1.66.18.18 14.7 1. 17. 1.66 6..197. 1.. 41. 7.7 O-RING.8.48 1.79.44.8. 1. 4. 7. 16.7.98.48.6.874 6.79 SIZE x 1. x 1. x 1. 4 x 1. 4 x 1.. 1. 6. 7. 17.9. 1. 9. 11. 9.8 1) DESIGNATED CL IS CENTERLINE OF UNIT ) USE P1 FOR ALL UNITS EXCEPT SIZE 16 WITH MANIFOLD OPTION IN LOCATION 99. FOR THIS UNIT ONLY, ONE MANIFOLD ORIFICE IS LOCATED IN A MOUNTING THREAD (SEE OPTION ILLUSTRATION) AND REQUIRES THE P1 DIAMETER. ) CIRCLED NUMBERS INDICATE POSITION. Z1 CORROSION RESISTANT This option provides appropriate corrosion resistant coatg on all ferrous parts except jaw guides. -96 www.phdc.com/grw
OPTIONS: SERIES GRW GRIPPERS PROXIMITY SWITCH KIT This kit equips the gripper with brackets to provide for the mountg of up to two 4 round proximity switches. Proximity switches must be ordered separately. 4 ROUND INDUCTIVE PROXIMITY SWITCHES PART NUMBER 184-1- 184-- DESCRIPTION NPN (Sk) 1- VDC, meter cable PNP (Source) 1- VDC, meter cable 8 THREADED INDUCTIVE PROXIMITY SWITCHES (4 & BORE UNITS) PART NUMBER DESCRIPTION 14-- NPN (Sk) - VDC, meter cable 14-6- PNP (Source) - VDC, meter cable PROXIMITY SWITCH MOUNTING KITS KIT NUMBER SIZE 16 4 STANDARD PLATING 671-16- 671-- 671--6 6847-4-91 6847--117 -Z1 PLATING 6846-16- 6846-- 6846--6 68466-4-91 68466--117 Each kit cludes 1 target bracket, switch mountg brackets, and socket head cap screws for mountg. OPEN POSITION CLOSED POSITION JAWS IN CLOSED POSITION PS (B1) PS6 PS8 HEX SIZE PS7 APPROXIMATE LED LOCATION (B) PS4 A PS9 HEX SIZE PS MAX Ø PS1 DETAIL A PS MAX SENSING DISTANCE LETTER DIM PS1 PS PS PS4 PS PS6 PS7 PS8 PS9 (B1) (B) 16 4 ROUND...6 6.7.8.71.47 8.81.67 17..6 6.6.8..8. 1.6. 1.6 41. 4 ROUND...1.81.1.4.47 8.81.9 7.4.64 16..8..1. 1.79 4..44 7. SIZE 4 ROUND... 6..67 1.7.47 8.81 N/A N/A 1.8 7.4.8..1..6 6..874 7. 4 8 THREADED..8.71 14..14.6.71 14. N/A N/A 1.6 4.7.79..118..91 74..4 89. 8 THREADED..8.1 14..14.91.71 14. N/A N/A. 64.8.79..17 4..4 9. 4.8 11. www.phdc.com/grw -97
OPTIONS: SERIES GRW GRIPPERS HALL EFFECT SWITCH KIT This kit equips the gripper with brackets to provide for the mountg of up to two 6 square Hall Effect switches. Hall Effect switches must be ordered separately. PART NUMBER 8-1- 84-1- 8-1 84-1 6 SQUARE HALL EFFECT SWITCHES COLOR Yellow Red Yellow Red DESCRIPTION NPN (Sk) 4.-4 VDC, meter cable PNP (Source) 4.-4 VDC, meter cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect HALL EFFECT SWITCH MOUNTING KITS KIT NUMBER SIZE 16 4 STANDARD PLATING 68446-16- 68446-- 68446--6 68446-4-91 68446--117 -Z1 PLATING 68467-16- 68467-- 68467--6 68467-4-91 68467--117 Each kit cludes 1 target bracket, switch mountg brackets, and socket head cap screws for mountg. OPEN POSITION CLOSED POSITION HS1 JAWS IN CLOSED POSITION HS6 HEX SIZE HS MAX (B1) HS (B) HS4 MAGNET LOCATION APPROXIMATE LED LOCATION HS7 HEX SIZE HS MAX LETTER DIM HS1 HS HS HS4 HS HS6 HS7 (B1) (B) 16 6 SQUARE.6 9..81 14.8..8.46 11.8.79..79. 1.6. 1.6 41. 6 SQUARE.9 1..4 1.8.7 1.8.46 11.8.79..98. 1.79 4..44 7. SIZE 6 SQUARE.9 4.1. 14..96.4.46 11.8.79..98..6 6..874 7. 4 6 SQUARE. 1..71 14..184 4.7.46 11.8.79..118..91 74..4 89. 6 SQUARE.64 67.6.1 14..14.9.46 11.8.79..17 4..4 9. 4.8 11. -98 www.phdc.com/grw
APPLICATIONS & CONCEPTS: SERIES GRW GRIPPERS LOADING AND UNLOADING DEVICE FOR AUTOMATED TUBE FINISHING PHD Slides and Series GRW Grippers handle the escapg and pickand-place duties for the loadg and unloadg of tubg this fishg application. As a two stage process, the part is first escaped from a loadg platform usg a PHD Slide (1) to the fishg mache. Next, usg a dual Series GRW grippers/slide configuration, parts are loaded () and unloaded unison from one end rollg device to the other. Then, the part is transferred to a conveyor (). After the process, the tubg is shaped, and fishes are completely sealed the last stage. AUTOMATED DEVICE FOR PART TRANSFER A PHD Series GRW Gripper is used to transfer a castg from an itial drillg operation to a secondary millg operation. The long stroke, synchronized action, and rigid guide rod construction provide the optimum solution for this application. The large tool surfaces and high moment capacity of the gripper allow for extended toolg lengths. 1 End rollg device (on both sides of tubes) End rollg device (on both sides of tubes) CUSTOM PRODUCTS & SOLUTIONS Illustrations shown are for concept only. Other variations clude: Smaller or larger bore sizes and strokes Stroke adjustment Rod/shaft scrapers Purge ports Alternate port locations Fluid compatibility SPRING CLOSE SHOCK ON CLOSE Contact PHD, Inc. with your product requirements. ALTERNATE JAW STYLE ALTERNATE JAW STYLE SINGLE JAW www.phdc.com/grw -99
PRODUCTS CUSTOM ORDERING DATA: SERIES GRR GRIPPERS TO ORDER SPECIFY: Product Le, Series, Type, Synchronization, Jaw, Design No., Size, Total Jaw Travel, and Options required. OPTIONS GR1 - Side Mountg Holes H47 - Rodlok L9 - NPT Ports (metric units only) L7 - BSPP Ports (imperial units only) (leave blank if not needed) CORROSION RESISTANT Z1 - Electroless Nickel all external ferrous parts (leave blank if not needed) SERIES Regular Duty SYNCHRONIZATION 1 - Synchronized DESIGN NO. (See Note 1) 1 - Imperial - Metric G R R 1 - - x - L9 - Z1 - V1 PRODUCT LINE G - Gripper TYPE Long Travel, High Capacity, Parallel Gripper JAW Style 1 THREADED INDUCTIVE PROXIMITY SWITCHES PART NUMBER 161-1 161-161- DESCRIPTION NPN (Sk) 4 VDC, meter cable PNP (Source) 4 VDC, meter cable AC 117 VAC, meter cable 8 THREADED INDUCTIVE PROXIMITY SWITCHES PART NUMBER 14-- 14-6- DESCRIPTION NPN (Sk) - VDC, meter cable PNP (Source) - VDC, meter cable BORE SIZE TOTAL JAW TRAVEL - or 7.874 NOTE: 1) Design number dicates imperial or metric mountg holes. Dowel p holes are metric regardless of design number. REPAIR AND SEAL KITS PART NUMBER DESCRIPTION 678 Repair Kit 679 Seal Kit 671 -V1 Repair Kit 6711 -V1 Seal Kit 8 SWITCH 69-1 SEALS Blank - STD Nitrile Seals V1 - Fluoro-Elastomer THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKETS CORROSION RESISTANT 8 SWITCH 69- ML TO GRR CROSS REFERENCE CHART ML NUMBER 1674 64 41 18 1 SWITCH 696-1 UNIT DESCRIPTION GRR1----GR1-L9 GRR1----GR1-L9 GRR1----L9 GRR1----L9-H47 CORROSION RESISTANT 1 SWITCH 696- Kit cludes 1 proximity switch mountg bracket, 1 mountg nut bracket, and 1 mountg screw bracket. THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS STANDARD 6849-1 CORROSION RESISTANT 6849- Kit cludes 1 proximity target and 1 target mountg screw. CCUSTOM JAW TRAVELS AND SIZES ARE AVAILABLE. PLEASE CONSULT PHD. N EED T O FIT -1 www.phdc.com/grr
BENEFITS: SERIES GRR GRIPPERS BENEFITS Narrow width and long jaw travel for a wide range of applications with limited space. Rugged design withstands high impact and shock loads. Dual, large diameter jaw guides provide low jaw deflection, high moment capacities, rugged performance, and long life. True parallel jaw motion simplifies jaw toolg design and is ideal for grippg parts of varyg size. Double actg for use both ternal and external grippg applications. Rack and pion jaw synchronization provide mimal backlash. The rack is enclosed, protectg the mechanism from debris. Jaws and body feature dowel p holes for accurate toolg location. TC fluoropolymer composite guide shaft bushgs provide long life and high grip force. Optional Rodlok locks the jaws a stationary position the event air pressure is lost. Proximity switches are available for dication of jaw position and terfacg to a system controller. SPECIFICATIONS SERIES GRR POWER SOURCE One tegral pneumatic cylder for each gripper jaw WORKING AIR PRESSURE psi m. to 1 psi max. at zero load [ bar m. to 7 bar max.] TEMPERATURE RANGE - to +18 F [-9 to 8 C] LUBRICATION Permanent for Non-lubricated or Lubricated Air GUIDE SHAFTS Hardened & Ground Steel BEARINGS TC Fluoropolymer Composite JAWS Hardcoated Alumum Alloy BODY Anodized Alumum Alloy TOTAL GRIP FORCE AT 87 psi [6 bar] 46 lb [46 N] TOTAL JAW TRAVEL 7.87 [ ] BORE DIAMETER ( bores) 1.97 [ ] UNIT WEIGHT 6.6 lb [16.6 kg] MAX. TOOLING LENGTH AT 1 psi [7 bar] [8 ] DOWEL PIN HOLES (JAWS) H7 class fit www.phdc.com/grr -11
DIMENSIONS: SERIES GRR GRIPPERS B1 J9 J4 J A CLOSED A OPEN J4 J B J 4 4X J7 DOWEL PIN HOLE 1 X Ø B7 SECONDARY SHAFT 8X J6 THREAD (WITH THREADED INSERTS) *P1 PORT (PLUGGED) P P4 P *P1 PORT (PLUGGED) K K1 B4 J1 B8 B P6 1X K8 THREAD (WITH THREADED INSERTS) B1 / X K X K4 X K K6 6 Ø B6 PRIMARY SHAFT SW SW6 K7 X K9 ±. [±.1] DOWEL PIN HOLE SW1 THREAD (MOUNTING FOR OPTIONAL PROXIMITY SWITCH TARGET) *PLUGGED PORTS, P1 & P, CAN BE USED FOR GRIPPER ACTUATION. NOTES: 1) SEE PAGE -16 FOR GR1 SIDE MOUNTING OPTION DIMENSIONS. ) CIRCLED NUMBERS INDICATE POSITION. P1 PORT (OPENS JAWS) P1 PORT (CLOSES JAWS) SW SW4 SLOT FOR OPTIONAL PROXIMITY SWITCH MOUNTING SW SLOT FOR OPTIONAL PROXIMITY SWITCH MOUNTING P7 P8 4X P PORT* (PLUGGED) LETTER DIM A OPEN A CLOSED B1 B B B4 B B6 B7 B8 B9 J1 J J J4 J J6 J7 J8 J9 K1 K K K4 K K6 K7 K8 K9 SW1 SW SW SW4 SW SW6 P1 P P P4 P P6 P7 P8 J B B9 J8 GRR1-x- 16.9 9.49 1.1..44 1. 1. 1..7 4. 6..1..6.44 1.77 1/-1 x 1. DP.477 x.7 DP (H7) 6.7 1.164.886 1.77 1. 1..1 1.181.6 /8-16 x.7 DP.168 x.7 DP M8 x 1. x.6 DP 9.688.444.84.1 1.9 1/4 NPT 1/8 NPT.44 4..7.44.7.7 49.8 9.8 9.8 88.9 9..4.4 1.8 19.1 11.6 18.8 1. 88.9 6. 9. 4. M1 x 1.7 x 4 DP 1. x 19. DP (H7) 161.9 9.6. 4..4.4 4.1. 6. M8 x 1. x 16 DP 8. x 19. DP M8 x 1. x 1.8 DP 46.1 11. 1.. 48. 1/4 BSPP 1/8 BSPP 8.7 114. 8.7 8.7 9. 19.1-1 www.phdc.com/grr All dimensions are reference only unless specifically toleranced.
ENGINEERING DATA: SERIES GRR GRIPPERS PRESSURE RATINGS Operatg pressure range for the Series GRR Gripper is psi [ bar] mimum to 1 psi [7 bar] maximum. SEALS AND FLUIDS Buna-N seals are standard on all Series GRR Grippers. Piston seals are long life Buna-N and rod seals are lip type Buna-N. All seals are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. LUBRICATION All units are prelubricated at the factory for service under normal operatg conditions. The Series GRR Grippers can be used with non-lubricated air; however, the use of lubricated air will extend service life. MATERIAL SPECIFICATIONS The gripper body is anodized alumum alloy and the gripper jaws are hardcoated alumum alloy. The guideshafts are ground and hardened steel and the rods are staless steel. Miscellaneous components are made from steel, delr, alumum, or bronze. TEMPERATURE LIMITS Series GRR Grippers are designed for use temperatures between - to 18 F [-9 to 8 C]. For temperatures outside this range, consult PHD. MAINTENANCE Coon with most PHD products, Series GRR Grippers are fully field repairable. Repair kits, seal kits, and ma structural components are available as needed for extended service life. REPEATABILITY Jaw position repeatability is with. ch [. ] of origal centered position. START-UP PROCEDURES The Series GRR Gripper should be securely mounted with all toolg and external flow control devices attached prior to applyg pressure to unit. Care should be taken to provide adequate clearance for the jaws to open and close. At itial start-up, apply pressure slowly to the unit. LIFE EXPECTANCY All standard units with Buna-N seals have been designed for a mimum of million trouble free cycles, with mimal seal wear and backlash. MAXIMUM ALLOWABLE FORCES AND MOMENTS ON GRIPPER JAWS Fa Mz Mx MODEL NUMBER GRR1-x- Fa lb N 9786 Mx -lb Nm 6 My -lb Nm 6 Mz -lb Nm 4 61 NOTE: 1)Fa: total for both jaws )Mx: per jaw, with moments measured from jaw mountg surface My: per jaw, with moments measured from geometric center of jaw Mz: per jaw, with moments measured from jaw mountg surface My www.phdc.com/grr -1
ENGINEERING DATA: SERIES GRR GRIPPERS GRIP FORCE SPECIFICATIONS Total grippg force relative to toolg length at 87 psi [6 bar] actuatg pressure is shown the graph below. Grip force per jaw equals the total grip force divided by two. The graph, combation with the gripper specification chart, can be used to determe the grip force and maximum toolg length for the Series GRR gripper. PART Distance From Jaw Surface SPECIFICATIONS MODEL NUMBER GRR1-x- DISPLACEMENT cm 4.4 99.8 UNIT WEIGHT lb kg 6.6 16.6 GF EXTERNAL GRIP imperial metric.8 4.4 GF INTERNAL GRIP imperial metric 4.94 18.6 MAX TOOLING LENGTH 8 TOTAL GRIP FORCE lb [N] 6 [669] [4] 4 [1779] [14] [89] 1 [44] Calculated Grip Forces (close) (GF x Pressure x Toolg Length Deratg Factor).. [.8] 4. [11.6] 6. [1.4] 8. [.] 1. [4] 1. [4.8] 1 psi TOOLING LENGTH [] 14. [.6] 87 psi 16. [46.4] 18. [47.] 6 psi. [8] MAX TOOLING LENGTH DERATING FACTOR 1..8.6.4... [.8] Toolg Length Deratg Factor 4. [11.6] 6. [1.4] 8. [.] 1. [4] 1. [4.8] TOOLING LENGTH [] 14. [.6] 16. [46.4] 18. [47.]. [8] MAX TOOLING LENGTH TOTAL GRIP FORCE lb [N] 6 [669] [4] 4 [1779] [14] [89] 1 [44] Calculated Grip Forces (open) (GF x Pressure x Toolg Length Deratg Factor).. [.8] 4. [11.6] 6. [1.4] 8. [.] 1. [4] 1. [4.8] 1 psi TOOLING LENGTH [] 14. [.6] 87 psi 16. [46.4] 18. [47.] 6 psi. [8] MAX TOOLING LENGTH GRIP FORCE CALCULATION RECOMMENDATIONS Design toolg so that the grip pot is as close to the gripper jaw surface as possible. When the grip pot moves away, jaw friction creases, which decreases grip force. The GF formation given on this page is for zero toolg length (jaw surface). The graphs show how forces decrease as the grip pot moves away from the jaw mountg surface. The maximum load that grippers can handle will vary based on: size of the part beg picked up, shape of the part, texture of the part, speed at which the part is transferred, workg pressure, shape of the fgers, etc. PHD recoends that the fgers of jaws be tooled or mached to conform to the shape of the part beg gripped. Pressure (psi) x GF imperial x Toolg Length Deratg Factor = Force (lb) Pressure [bar] x GF metric x Toolg Length Deratg Factor = Force [N] -14 www.phdc.com/grr Grippg force is defed as the maximum value at which the jaws will not move from their grippg position. The figures the Calculated Grip Forces (close) Chart are based on actual measured results; figures may vary slightly due to friction. Grippg force is proportional to put pressure.
ACCESSORIES: SERIES GRR GRIPPERS PROXIMITY SWITCHES - EXTERNAL This accessory provides for the external mountg of 8 or 1 threaded round metal sensg ductive proximity switches. Multiple switches may be mounted usg multiple brackets. Proximity switches, targets, and mountg brackets are ordered separately. See the Switches and Sensors section for complete switch specifications. NOTE: For Option GR1 switch formation, see page -16. 6 SW14 SW7 J 4 SW9 1 SHOWN AS 8 PROX SW11 SW1 SW1 TO BOTTOM OF TARGET SHOWN AS 1 PROX SW1 SW8 8 THREADED INDUCTIVE PROXIMITY SWITCHES PART NO. 14-- 14-6- DESCRIPTION NPN (Sk) - VDC, meter cable PNP (Source) - VDC, meter cable 1 THREADED INDUCTIVE PROXIMITY SWITCHES PART NO. 161-1 161-161- DESCRIPTION NPN (Sk) 4 VDC, meter cable PNP (Source) 4 VDC, meter cable AC 117 VAC, meter cable LETTER DIM. J SW7 SW8 SW9 SW1 SW11 SW1 SW1 SW14 GRR1-x-. 89.87..96 4.4.44 6. 1. 4. 1.1 9. 8..4 11.9.9 THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS STANDARD CORROSION RESISTANT 6849-1 6849- Kit cludes 1 proximity target and 1 target mountg screw. 8 SWITCH 69-1 THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKETS CORROSION RESISTANT 8 SWITCH 69-1 SWITCH CORROSION RESISTANT 1 SWITCH 696-696-1 Kit cludes 1 proximity switch mountg bracket, 1 mountg nut bracket, and 1 mountg screw bracket. All dimensions are reference only unless specifically toleranced. www.phdc.com/grr -1
OPTIONS: SERIES GRR GRIPPERS GR1 SIDE MOUNTING HOLES This option removes the standard bottom mountg and provides mountg on the gripper via 4 threaded holes both sides of the support plate. Because of the side mountg, the proximity switch T slots have been removed from the sides of the gripper and are replaced by two threaded holes on the bottom of the gripper which are designed to accept the 1 threaded ductive proximity switches only. 6 4 M M M1 M M M4 M6 M6 M4 M M M1 SW1 SW16 SW17 X SW19 THREADED PROXIMITY SWITCH MOUNTING HOLE 1 THREADED INDUCTIVE PROXIMITY SWITCHES PART NO. 161-1 161-161- 1 DESCRIPTION NPN (Sk) 4 VDC, meter cable PNP (Source) 4 VDC, meter cable AC 117 VAC, meter cable SW18 8X M7 MOUNTING THREAD DIM LETTER SW1 SW16 SW17 SW18 SW19 M1 M M M4 M M6 M7 GRRxx-x-..6 14.1.647 M1.16.6.7.6.7.6 M8 x 1. DP 7. 9. 8.8 16.4 M1 4. 14.9 146.1 14.9 146.1 1.9 M8 x 6 DP THE 1 PROXIMITY SWITCHES AND CABLES WILL EXTEND FROM THE BOTTOM OF THE GRIPPER X 1 THREADED PROXIMITY SWITCH X 1 THREADED PROXIMITY SWITCH X M1 JAM NUT -16 www.phdc.com/grr
OPTIONS: SERIES GRR GRIPPERS H47 RODLOK PHD s Rodlok is ideal for lockg the jaws while a static/ stationary position. When the pressure is removed from the port of the Rodlok, the mechanism will grip on the external guide shaft and prevent the jaws from movg. The loads are held defitely without power. The Rodlok may also be used termittent dynamic use as a pressure off jaw deceleration device. Rodlok performance (Accuracy and Stoppg distance) is application and environment sensitive (Cleanless of Shaft or Rodlok will also affect performance). THE RODLOK IS NOT DESIGNED TO BE USED AS A PERSONNEL SAFETY DEVICE. Option H47 provides the Rodlok pre-assembled to the gripper. The port of the Rodlok device will be location 99. Add-on and replacement Rodlok kits can be purchased separately. Contact PHD for details. LETTER DIM. L1 L L L4 L L6 L7 L8 L9 GRR1-x-.478 1.7 11. 8.976.8 7.471 1.41.79.81 6.9 7. 84.4 7.9 14.8 189.7.9.1 71.4 NOTES: 1) IT IS POSSIBLE TO OVERRIDE THE RODLOK WITH VERY HIGH FORCE APPLIED TO THE GRIPPER. ) CIRCLED NUMBERS INDICATE POSITION. L1 L 1/8 BSPP (METRIC UNITS) 1/8 NPT (IMPERIAL UNITS) PORT FOR JAW LOCK (MUST BE PRESSURIZED BEFORE OPERATING GRIPPER) L L L4 L6 6 4 1 L8 L9 L7 SIZE L9 L7 STATIC LOCKING FORCE* DYNAMIC lb N LOCKING FORCE 7 1 Actual dynamic lockg forces are application sensitive. Environmental conditions, load weights, attitude, pressure, and speed fluence performance. NOTE: *Lockg force dicated above is the actual lockg force with a dry clean rod and does not clude any safety factor. It is possible to override the Rodlok with very high force applied to the gripper. METRIC UNIT WITH IMPERIAL (NPT) PORTS IMPERIAL UNIT WITH METRIC (BSPP) PORTS Z1 CORROSION RESISTANT This option provides a corrosion resistant coatg on all ferrous parts for use applications where the standard parts may corrode. V1 FLUORO-ELASTOMER SEALS Fluoro-elastomer seals are available to achieve seal compatibility with certa fluids. Seal compatibility should be checked with the fluid manufacturer for proper application. Consult PHD for high temperature use. All dimensions are reference only unless specifically toleranced. www.phdc.com/grr -17
APPLICATION EXAMPLES: SERIES GRR GRIPPERS GRIPPER FOR HIGH FORCE AND HIGH JAW LOADS The Series GRR Gripper is designed to withstand external forces and for movg heavy parts quickly. The parallel design provides for automatic centerg of parts, while the 8 ch jaw travel makes it flexible for a wide variety of applications. In this application, two Series GRR Grippers are mounted on a fixture attached to a robot. The robot will transfer rims from an -feed conveyor station to and from three separate machg processes. Then the fished rim is placed on a conveyor, takg it from the machg area. 4 1 GRIPPER FOR LONG TRAVEL, HIGH FORCE CAPABILITY This Series GRR Gripper is designed for long stroke, high force applications. The synchronized parallel jaw motion automatically centers items for operations such as sortg. The long stroke compensates for items of varyg size or position. -18 www.phdc.com/grr
CONCEPTS: SERIES GRR GRIPPERS CUSTOM PRODUCTS & SOLUTIONS Illustrations shown are for concept only. Other variations clude: Smaller or larger bore sizes and strokes Stroke adjustment on closed Fluid compatibility Alternate materials Contact PHD, Inc. with your product requirements. LONGER THAN STANDARD JAW TRAVEL SMALLER THAN STANDARD BORE & LONGER THAN STANDARD JAW TRAVEL SPRING ASSIST OPEN OR CLOSED SMALLER THAN STANDARD BORE SIZE JAW STROKE ADJUSTMENT COLLARS www.phdc.com/grr -19
NOTES -11 www.phdc.com/grr
6B 18 JAW MOTION GRIPPERS SERIES GRB NEW! 18 Jaw Rotation Provides Maximum Jaw Clearance from the Work Area INDEX: Orderg Data Page 6B- Benefits Page 6B- Dimensions Pages 6B-4 and 6B- Engeerg Data Pages 6B-6 to 6B-1 Options Pages 6B-11 and 6B-1 Accessories Pages 6B-1 and 6B-14 Applications & Concepts Page 6B-1 www.phdc.com/grb 6B-1
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES GRB GRIPPERS 6B TO ORDER SPECIFY: Product, Series, Type, Jaw Variation, Jaw, Design No., Bore Size, Total Jaw Rotation, and Options required. SERIES R - Regular Duty JAW VARIATION 1 - Non-lockg DESIGN NO. (See Note) - Imperial 6 - Metric OPTIONS (OMIT IF NOT REQUIRED) PORTING OPTION UB1 - Port option location 1 SWITCH OPTIONS CU - Proximity switch ready M - Magnet for Series 679 Switches STANDARD PORT IN LOCATION 48 G R B 1 1 - - 1 x 18 - UB1-M PRODUCT G - Gripper TYPE B - 18 Angular NOTE: Design number dictates imperial or metric mountg holes, dowel p holes, and ports. JAW 1 - Style 1 BORE SIZE Diameter 1 16 4 () (.47) (.6) (.787) (1.6) (1.7) (1.969) TOTAL JAW ROTATION (DEGREES) 18 (Standard) 9 6 18 Please refer to pages 6B-1 and 6B-14 for switch and kit formation. 9 6 CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. OPTION: PORTS IN LOCATION 1 EED N T O FIT 6B- www.phdc.com/grb
BENEFITS: SERIES GRB GRIPPERS BENEFITS Interchangeable with previous design Series GRB Grippers, available six sizes, provide up to 18 of total jaw rotation allowg the jaws to rotate completely clear of the work area elimatg an otherwise required axis of travel. Internal speed restriction elimates the need for flow controls standard applications. External flow controls are available as an accessory. Three total jaw rotations available: 6, 9, and 18 Internal shock pads reduce end of rotation shock on open and ensure quiet operation. Enclosed jaw mechanism helps prevent external contamation from damagg the unit. Close tolerance jaw width and dowel p holes provide precise positiong for jaw toolg and fixturg. The gripper body has two mountg surfaces with dowel p holes to provide accurate mountg a variety of attitudes. Optional 4 round ductive proximity switches, as well as Series 679 Solid State and Reed switches are available on all sizes for dication of jaw position and simple terfacg with electronic system controls. Field repairable Optional port location available DESIGN IMPROVEMENTS Increased grip force Improved precision through decreased jaw side play Larger piston rod and jaw driver provide a significantly more rugged gripper One piece body provides superior terchangeability 6B Hardened Steel Jaw Driver Hardened Steel Jaws with Precision Dowel Holes Internal speed restriction removes the need for external speed controls standard applications Hardcoated Alumum Body Longer life seals Precise Hardened Pivot & Drive Ps Mountg for 4 Round Inductive Proximity Switches Available (with -CU Option) Increased diameter jaw pivot ps, on smaller sizes, provide creased robustness Series 679 Solid State and Reed switches now available on all sizes Internal Shock Pad Long Life Piston & Rod Seals Dowel p holes added to jaws allow for simplified toolg and improved gripper to gripper terchangeability One Piece Hard Chrome Plated Piston Rod for Extended Seal Life Switch Slots Accept Series 679 Solid State & Reed Switches (with -M Option) Proximity switches and kits are terchangeable between Design 1 and Design SIZE SPECIFICATIONS 1 16 4 WORKING AIR PRESSURE psi m. to 1 psi max. [ bar m. to 7 bar max.] TORQUE PER JAW AT 87 psi [6 bar] EXTERNAL GRIP.8 -lb [. Nm] 7.9 -lb [.9 Nm] 6 -lb [. Nm] 84 -lb [9. Nm] 16 -lb [18 Nm] -lb [6 Nm] INTERNAL GRIP.6 -lb [.41 Nm] 9. -lb [1.4 Nm] -lb [.7 Nm] 1 -lb [1 Nm] 187 -lb [1 Nm] 67 -lb [69 Nm] MAX. TOTAL JAW ROTATION 18 18 18 18 18 18 BORE DIAMETER.47 [1 ].6 [16 ].79 [ ] 1.6 [ ] 1.7 [4 ] 1.97 [ ] UNIT WEIGHT.8 lb [.1 kg]. lb [. kg].98 lb [.4 kg]. lb [.98 kg] 4. lb [. kg] 11. lb [. kg] www.phdc.com/grb 6B-
DIMENSIONS: SERIES GRB GRIPPERS SIZE 1, 16,, & PROXIMITY SENSOR MOUNTING LOCATION J1 C L B4 B B6 J J B J4 J X J7 THD J8 ±. [H7] DOWEL PIN HOLE JAW PIVOT CENTERLINE B X P1 PORT P J9 P4 SIZE 1 & 16 J1 P P B1 J6 J1 J11 X J7 THD X J8 ±. [H7] DOWEL PIN HOLE JAW PIVOT CENTERLINE X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) P CLOSE OPEN J9 P4 SIZE & J1 J6 J1 J11 J1 X P1 PORT CLOSE OPEN P P B1 6B SLOTS FOR SERIES 679 SWITCHES K X K ±. X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) X K6 THD C'BORE & THRU HOLE FOR K7 SHCS FROM OPPOSITE SIDE (J4) K11 K1 X K8 ±. [H7] DOWEL PIN HOLE NOTES: 1) DESIGNATED C L IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED ) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED C L C L [H7] DOWEL PIN HOLE K9 K4 K X K1 THD LETTER DIM B1 B B B4 B B6 J1 J J J4 J J6 J7 J8 J9 J1 J11 J1 J1 K1 K K K4 K K6 K7 K8 K9 K1 K11 P1 P P P4 P.966 1.4.197 1.1.444.86 1.6.196.19 1.7 1.14.4 6- THRU.971 THRU.87.177.4.1 8- x.96 DP.947 x.187 DP.16.474.748 1-4 x.4 DP #6.947 x.187 DP.6.96.748 1-.4.11.6.886 SIZE 1 16 4. 1.14 9. 1.4 6.1 1.6 6.1 1.81 46..17..7.8.79 68.8.86 8. 4.1 8. 1.64 4. 1.9 49..6 11..6 14..668 17..9 9.8. 1..64 14..869 7. 1.417 6. 1.67 4..4..16..7 7..94..9 1..98..79 44..146 4..618 66..87 9. 1.7 4. 1.8 47..4 11.. 14..71 18..787 M4 x.7 8- M4 x.7 1-4 M x.8 1/4- THRU THRU THRU THRU THRU THRU..971..971..18 THRU THRU THRU THRU THRU THRU 1. 1.8 7. 1.14 8. 1. 4..6 6..197..6 9..1 1..79 18..787.1 8..1 8..97 1..1 1..6 M4 x.7 1-4 M x.8 1/4- M6 x 1. /16-18 x 7. DP x. DP x 7.6 DP x.7 DP x 9. DP x.1 DP. x.18 x. x.18 x. x.198 x 4.7 DP. DP. DP. DP. DP.4 DP..1..9 6.1.9 1..6694 17..94 4..9844 19. 1.6 1. 1.468 7..8 M x.8 1/4- x M6 x 1. 1/4- x M6 x 1. /16-18 x x 1. DP. DP x 1.7 DP.1 DP x 14. DP.6 DP M4 #1 M #1 M 1/4. x.18 x. x.18 x. x.198 x 4.7 DP. DP. DP. DP. DP.4 DP 6..4 9..47 1..91. 1.1 8. 1.9 4. 1.64 19. 1.6 1. 1.468 7..8 M x.8 1- M x.8 1- M x.8 1/8 NPT 11..47 1..71 18..78 1..669 17..946 4..9 6..6 6..48 8.8.4. 1.14 9. 1.78. 1.67 41. 78. 16.9 66..4.1 61. 1.. 8. 61.. M6 x 1. THRU. THRU 9. 6.. 8. 16. M8 x 1. x 14. DP. x 9. DP 7.. 1. M8 x 1. x 16. DP M6. x 9. DP 1. 41. 1. 1/8 BSPP 18.. 11. 4. 6B-4 www.phdc.com/grb
DIMENSIONS: SERIES GRB GRIPPERS SIZE 4 & J1 C L J J J X J7 THD X J8 ±. [H7] DOWEL PIN HOLE J1 J6 J11 B J9 J1 J1 B6 JAW PIVOT CENTERLINE PROXIMITY SENSOR MOUNTING LOCATION J4 B X P1 PORT X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) P P4 CLOSE SLOTS FOR SERIES 679 SWITCHES X MANUFACTURING HOLES (CONSULT PHD FOR MORE INFORMATION) X K ±. [H7] DOWEL PIN HOLE 4X K6 THD C BORE & THRU HOLE FOR K7 SHCS FROM OPPOSITE SIDE (J4) ANGULAR JAW ROTATION TOLERANCE (ALL SIZES) B4 B NOTES: 1) DESIGNATED C L IS CENTERLINE OF UNIT ) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED ) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED TOTAL JAW ROTATION 18 (9 PER JAW) STANDARD 9 K K1 K11 + /- 4 CLOSED +1 /- C L C L K1 K4 K TOTAL JAW ROTATION 9 (4 PER JAW) 4X K1 THD K1 K9 + /- CLOSED X K8 ±. [H7] DOWEL PIN HOLE OPEN +1 /- TOTAL JAW ROTATION 6 ( PER JAW) B1 P P + /- CLOSED OPEN LETTER DIM B1 B B B4 B B6 J1 J J J4 J J6 J7 J8 J9 J1 J11 J1 J1 K1 K K K4 K K6 K7 K8 K9 K1 K11 K1 K1 P1 P P P4 P OPEN.16 4.6.188.8 1.1 1.14..47.79.97.87 1.8 /16-18 THRU.18 THRU 1.994.1.94.1.787 /16-18 x.1 DP. x.97 DP. 1.467.677 /8-16 x.787 DP /16. x.97 DP.1.41.677 1.1 1.7 1/8 NPT 1.8 1.9.4 1.7 SIZE 4 4.9.6 1.1 6. 11.8 7.69 8.9 4.88.8 1.91 8.8 1.676 8..4 1..78..196 11..78 7. 4.1 7.4 1.8 M8 x 1. /8-16 THRU THRU.. THRU THRU 48..98 8..94 4. 1.181 8..97..984 M8 x 1. /8-16 x x 14. DP.787 DP 6..18 x 1. DP x.9 DP 8.9.44 7. 1.69 68. 4.16 M1 x 1. 1/-1 x x. DP.984 DP M8 /8 6..18 x 1. DP x.9 DP 14..79 61..48 68. 4.16 8. 1.47 44..874 1/8 BSPP 1/8 NPT 7.4.414.4 1.64 11..1 4..484 6. 18. 19. 14. 48. 4.6 18. 18.. 14. 1.. M1 x 1. THRU 6. THRU 7. 1.. 1.. M1 x 1. x. DP 8. x 1. DP 11. 4. 1. M1 x 1.7 x. DP M1 8. x 1. DP 18. 88. 1. 7. 7. 1/8 BSPP 1. 4. 14. 88. 6B +1 /- OPEN www.phdc.com/grb 6B-
ENGINEERING DATA: SERIES GRB GRIPPERS SPECIFICATIONS SIZE 1 16 4 NOMINAL TOTAL JAW ROTATION 18 18 18 18 18 18 GRIP FORCE FACTOR GF EXTERNAL GRIP INTERNAL GRIP Imperial.6.18.61 1.9.7 1 Metric 16 99 994 17 689 19964 Imperial.8.1.7.4 4. 14 Metric 16 46 11 91 749 864 GRIPPER WEIGHT lb.8..98. 4. 11. kg.1..4.98.. CLOSE TIME 87 psi [6 bar] sec.1..6.41..6 OPEN TIME 87 psi [6 bar] sec.7.1.1.19.. DISPLACEMENT cm.9 1.4.1..8 6. 1..84 47 7. 11 SEALS AND FLUIDS Long life seals are standard on all Series GRB Grippers. These seals are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ to 8 C]. For temperatures outside this range, consult PHD. LIFE EXPECTANCY All standard units have been engeered and tested for a mimum of million trouble free cycles. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service with dry filtered air under normal operatg conditions. Lubricated air may crease the life of the unit. MATERIAL Gripper body is hardcoated alumum. Jaws, jaw driver, drive ps, and jaw pivot ps are hardened steel. Jaw cover is coated steel. Piston rod is hard chrome plated steel. SPECIAL GRIPPERS Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. See page 16 for examples of custom products and solutions. SIZE 1 16 4 MAXIMUM ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS MAX TOOLING LENGTH 7 4 1 4. 11 1 6 1 8 Fa (TENSION OR COMPRESSION) lb N 9 4 18 8 17 78 8 169 7 11 -lb 4 6 1 6 My Nm. 7 14 4 68 -lb 4 6 1 6 Mz Nm. 7 14 4 68 My, Mz: Allowable moments per jaw. Moments measured from the jaw pivot. Fa: Allowable total force Max Toolg Length: Measured from jaw pivot. Mz Fa Note: When calculatg values for My, Mz, and Fa, clude the grip force per jaw, toolg weight, part weight, external forces, and acceleration, as applicable. My My 6 www.phdc.com GRB
ENGINEERING DATA: SERIES GRB GRIPPERS GRIP FORCE GRAPHS TOTAL GRIP FORCE lb [N] 16 [71] 1 [] 8 [6] 4 [18].47 [1] SIZE 1 OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar].7 1. 1. 1. 1.7....7. [19] [] [] [8] [44] [] [7] [6] [69] [7] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH GRIP FORCE Total grippg force relative to toolg length is shown below at the stated actuatg pressure. Grip force per jaw equals the total grip force divided by two. The graphs also dicate the maximum toolg length for each gripper size. JAW PIVOT 6 [16] SIZE 16 TOOLING LENGTH TOTAL GRIP FORCE lb [N] 4 [17] 1 [] OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar] F/ PART F/ F = Total Grip Force.7 [14] 1. 1..... 4. [] [8] [] [6] [7] [88] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH 1 [44] SIZE 4 [168] SIZE TOTAL GRIP FORCE lb [N] 8 [6] 6 [67] 4 [178] [89] OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar].67 1. 1..... 4. 4. [17] [] [8] [] [6] [7] [88] [1] [11] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH TOTAL GRIP FORCE lb [N] 18 [81] 1 [4] 6 [67].9 [] OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar] 1..... 4. 4.. [8] [] [6] [7] [88] [1] [11] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH 6B TOTAL GRIP FORCE lb [N] [14] 4 [168] 16 [71] 8 [6] 1. [] SIZE 4 OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar].. 4.. 6. [] [7] [1] [1] [1] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH TOTAL GRIP FORCE lb [N] 64 [847] 48 [1] [14] 16 [71] 1.97 [] SIZE OPEN, 87 psi [6 bar] CLOSED, 87 psi [6 bar]. 4.. 6. 7. 8. [7] [1] [1] [1] [17] [] TOOLING LENGTH [] MAXIMUM TOOLING LENGTH www.phdc.com/grb 6B-7
ENGINEERING DATA: SERIES GRB GRIPPERS 1. FORCE MULTIPLIER GRAPH 1. FORCE MULTIPLIER.8.6.4. -. 6 9 1 1 18 INCLUDED JAW ANGLE AT POINT OF GRIP NOTES: 1) The force multiplier is a function of the jaw position at pot of grip. ) Force multiplier with the jaws parallel ( ) is 1. GRIP FORCE CALCULATION EXAMPLE: PRESSURE (psi) x GF x FORCE MULTIPLIER = TOTAL GRIP FORCE (lb) DISTANCE FROM JAW PIVOT () PRESSURE [bar] x GF DISTANCE FROM JAW PIVOT [] x FORCE MULTIPLIER = TOTAL GRIP FORCE [N] Example: GRB11-- x 18, [GRB11-6- x 18] Operatg Pressure = 87 psi [6 bar] Fd Toolg Length (Distance Between Jaw Pivot and Grippg Pot): Desired toolg length is 1.7 [44. ]. Fd Jaw Angle at Pot of Grip: Jaws will be parallel ( ) at pot of grip. Determe Force Multipler Based on Jaw Angle at Pot of Grip: Because jaws are parallel ( ) at pot of grip, force multiplier = 1 (from Force Multiplier Graph above). Fd Grip Factor (GF) =.61 [994] (from Specifications p. 6) Total Grip Force = ((87 psi x.61) / 1.7) x 1 =. lb [((6 bar x 994) / 44.) x 1 = 14 N] JAW PIVOT TOOLING LENGTH = 1.7 [44. ] PART F/ F/ F = Total Grip Force 8 www.phdc.com GRB
ENGINEERING DATA: SERIES GRB GRIPPERS JAW TOOLING INERTIA GRAPHS (PER JAW) TOOLING INERTIA (lb- ) SIZE 1. [6.6]. [.9] 1.7 [.1] 1. [4.4] 1. [.7] 1. [.9].7 [.]. [1.]. [.7] [] 4 6 8 1 1 14 16 18 4 6 8 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] JAW TOOLING Jaw toolg must be sized such a manner as to keep the total jaw toolg ertia (per jaw) the shaded areas of the charts below. Use the calculation example on page 1 as a template for your toolg design. AXIS Z1 HA WA PART A LA HB WB LB TOOLING INERTIA (lb- ).7... 1.7 1. 1. 1..7.. SIZE 16 [8.] [7.] [6.6] [.9] [.1] [4.4] [.7] [.9] [.] [1.] [.7] [] 6 8 1 1 14 16 18 4 6 8 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] AXIS Z AXIS Z (TOTAL JAW TOOLING INERTIA IS CALCULATED ABOUT THIS AXIS) R1 R PART B TOOLING INERTIA (lb- ) SIZE 9 8 7 6 4 1 [6] [] [1] [18] [1] [1] [] 6 8 1 1 14 16 18 4 6 8 CYCLE TIME (ms/9 ) [8.8] [.9] [.9] TOOLING INERTIA [x 1-4 kg-m ] TOOLING INERTIA (lb- ) SIZE 1 1 9 6 6 8 [44] [] [6] [18] [8.8] [] 1 1 14 16 18 4 6 8 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] TOOLING INERTIA (lb- ) SIZE 4 6 [176] [146] 4 [117] [88] [9] 1 [9] [] 1 14 16 18 4 6 8 4 6 8 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] TOOLING INERTIA (lb- ) SIZE 18 16 14 1 1 8 6 4 [8] [7] [468] [41] [1] [9] [4] [176] [117] [9] [] 18 4 6 8 4 6 8 4 4 44 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] GRB www.phdc.com 9
ENGINEERING DATA: SERIES GRB GRIPPERS JAW TOOLING INERTIA CALCULATION (PER JAW) STEP 1: Determe the Gripper Size, Jaw Toolg Dimensions, and Gripper Openg Time. STEP : Calculate the moments of ertia for the Jaw Toolg. PART A AXIS Z1 AXIS Z AXIS Z (TOTAL JAW TOOLING INERTIA IS CALCULATED ABOUT THIS AXIS) R1 R Calculation of Jaw Toolg Mass: MA = LA x HA x WA x Mass Density of Jaw Toolg Material Moment of Inertia Calculation for the Jaw Toolg about Axis Z1: IZ1 = (1/1) x (MA) x (HA + LA ) Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZA = IZ1 + (MA x R1 ) PART B AXIS Z1 AXIS Z AXIS Z (TOTAL JAW TOOLING INERTIA IS CALCULATED ABOUT THIS AXIS) R1 R Calculation of Jaw Toolg Mass: MB = LB x HB x WB x Mass Density of Jaw Toolg Material Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZ = (1/1) x (MB) x (HB + LB ) Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZB = IZ + (MB x R ) TOTAL JAW TOOLING INERTIA: ITOTAL = IZA + IZB STEP : Verify Jaw Toolg Inertia by comparg ITOTAL with Jaw Toolg Inertia graph. HA WA PART A LA HB WB LB PART B EXAMPLE: STEP 1: Gripper Size:, Jaw Toolg Dimensions: see graphic, Gripper Openg Time: 1 ms STEP : PART A LA =. [.1 m] HA =.6 [.16 m] WA =.7 [.19 m] Mass Density of Alumum =.98 lb/ [71.6 kg/m ] R1 =. [.7 m] Calculation of Jaw Toolg Mass: MA =. x.6 x.7 x.98 lb/ [.1 m x.16 m x.19 m x 71.6 kg/m ] MA =. lb [.11 kg] Moment of Inertia Calculation for the Jaw Toolg about Axis Z1: IZ1 = (1/1) x (. lb) x (.6 +. ) [(1/1) x (.11 kg) x (.16 m +.1 m)] IZ1 =.1 lb- [.9 x 1-7 kg-m ] Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZA =.1 lb- + (. lb x. ) [.9 x 1-7 kg-m + (.11 kg x.7 kg)] IZA =.8 lb- [6. x 1 - kg-m ] PART B LB =. [.64 m] HB =. [.9 m] WB =.6 [.1 m] Mass Density of Alumum =.98 lb/ [71.6 kg/m ] R =. [.1 m] Calculation of Jaw Toolg Mass: MB =. x. x.6 x.98 lb/ [.64 m x.9 m x.1 m x 71.6 kg/m ] MB =.1 lb [. kg] Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZ = (1/1) x (.1 lb) x (. +. ) [(1/1) x (. kg) x (.9 m +.64 m)] IZ =.7 lb- [8. x 1-6 kg-m ] Moment of Inertia Calculation for the Jaw Toolg about Axis Z: IZB =.7 lb- + (.1 lb x. ) [8. x 1-6 kg-m + (. kg x.1 m)] IZB =.1 lb- [6.8 x 1 - kg-m ] TOTAL JAW TOOLING INERTIA: ITOTAL =.8 lb- +.1 lb- [6. x 1 - kg-m + 6.8 x 1 - kg-m ] ITOTAL =.49 lb- [1. x 1-4 kg-m ] STEP : TOOLING INERTIA (lb- ) 9 8 7 6 4 1 ITOTAL SIZE [6] [] [1] [18] [1] [1] [8.8] [.9] [.9] [] 6 8 1 1 14 16 18 4 6 8 CYCLE TIME (ms/9 ) TOOLING INERTIA [x 1-4 kg-m ] 1 www.phdc.com GRB
OPTIONS: SERIES GRB GRIPPERS PORT OPTION IN LOCATION 1 This option provides ports Location 1. The standard ports are plugged. X P6 PORT P9 P8 C L P7 PORT OPTION -UB1 CLOSE OPEN LETTER DIM P6 P7 P8 P9 1-.96.1.96 SIZE 1 16 4 M x.8 1- M x.8 1- M x.8 1/8 NPT 1/8 BSPP 1/8 NPT 1/8 BSPP 1/8 NPT 7..74 9..49 1..78 18..9. 1.1 8..6 6..4 9..71 14..4 11..1. 1.1 8. 1.78. 1.7 4.9 1.7 4..484 1/8 BSPP.6 14. 88. M MAGNET FOR PHD SERIES 679 REED AND SOLID STATE SWITCHES SERIES 679 SWITCHES (NOT INCLUDED WITH -M OPTION) 6B This option equips the unit with a magnetic piston for use with PHD s Series 679 Reed and Solid State Switches. The switches mount easily to two small grooves located on the front of the gripper body and are locked to place with a set screw. PHD s Series 679 switches are required addition to the -M option and are sold separately. All dimensions are reference only unless specifically toleranced. www.phdc.com/grb 6B-11
OPTIONS: SERIES GRB GRIPPERS CU SENSOR READY With this option the gripper is assembled with extended jaw pivot ps for use with PHD ductive proximity switch mountg kits. Switches and switch mountg kits are required addition to the -CU option and are sold separately. See page 1 for switches and mountg kits. C L PS PS PS1.7 x.1 DP [7. x.4 DP] X M. x.4 THREAD x 4 DP (J4) PS4 6B LETTER DIM PS1 PS PS PS4 (J4).79.6..88 1.7 SIZE 1 16 4..118..17 4..196..196..196 6..6 6..9 7..9 7..9 7..9 1..671 17..76 19.4.61 1..61 1..61 1. 1.6 6.9 1.6 4..1..9 74.4 4.74 44..146 4..618 66..87 8..97 11..78. 7. 1. 1.4 14. 6B-1 www.phdc.com/grb All dimensions are reference only unless specifically toleranced.
6B ACCESSORIES: SERIES GRB GRIPPERS PROXIMITY SWITCHES (-CU OPTION REQUIRED) 4 ROUND INDUCTIVE PROXIMITY SWITCHES PART NUMBER DESCRIPTION 184-1- NPN (Sk) 1- VDC, meter cable 184-- PNP (Source) 1- VDC, meter cable.4 [9.] MAX PROXIMITY SWITCH MOUNTING KITS SIZE KIT NUMBER 1 1874 16 189 187 1891 4 1891 1891 Each kit contas 1 target, 1 switch mountg bracket, and fasteners for mountg. Switches sold separately..79 [.] HEX SIZE.1 [.8] MAX SENSING DISTANCE PS7.79 [.] HEX SIZE.1 [8.] RAD 4 ROUND PROXIMITY SWITCH LETTER DIM PS7 SIZE 1 16 4.6 6..6 6..9 7..9 7..9 7..9 7. All dimensions are reference only unless specifically toleranced. www.phdc.com/grb 6B-1
ACCESSORIES: SERIES GRB GRIPPERS SERIES 679 SWITCHES (-M OPTION REQUIRED) PART NUMBER 679-1 679-1- 679-1- 6794-1 6794-1- 6794-1- 679-1 679-1- 679-1- SERIES 679 SOLID STATE & REED SWITCHES DESCRIPTION NPN (Sk) Solid State, 4.- VDC, Quick Connect NPN (Sk) Solid State, 4.- VDC, Meter Cable NPN (Sk) Solid State, 4.- VDC, Meter Cable PNP (Source) Solid State, 4.- VDC, Quick Connect PNP (Source) Solid State, 4.- VDC, Meter Cable PNP (Source) Solid State, 4.- VDC, Meter Cable PNP (Source) or NPN (Sk) DC Reed, 4.- VDC, Quick Connect PNP (Source) or NPN (Sk) DC Reed, 4.- VDC, Meter Cable PNP (Source) or NPN (Sk) DC Reed, 4.- VDC, Meter Cable SIZE, 4, & SIZE 1, 16, &.1 [1.] HEX SIZE.1 [1.] HEX SIZE HS1* (SIZE 1, 16 & ) APPROXIMATE LED LOCATION APPROXIMATE LED LOCATION LETTER DIM HS1*. SIZE 1 16 4 8.9. 7.6..1 NOTE: * INDICATES END OF SERIES 679 SWITCH HOUSING, DOES NOT INCLUDE CABLE..1 [1.] HEX SIZE 6B APPROXIMATE LED LOCATION FLOW CONTROLS This accessory may be used to control the jaw actuation speed of the gripper. By decreasg the jaw actuation speed, the toolg ertia may be creased. See page 6B-1 for jaw toolg ertia calculations. GRIPPER SIZE 1 16 4 IMPERIAL FLOW CONTROLS PORT SIZE 1- UNC-B 1- UNC-B 1- UNC-B 1/8 NPT 1/8 NPT 1/8 NPT TUBE OD /" /" /" 1/4" 1/4" 1/4" NOTE: EACH KIT CONTAINS 1 FLOW CONTROL KIT NUMBER 769-1 769-1 769-1 769-769- 769- GRIPPER SIZE 1 16 4 METRIC FLOW CONTROLS PORT SIZE M x.8 M x.8 M x.8 1/8 BSP 1/8 BSP 1/8 BSP TUBE OD 4. 4. 4. 6. 6. 6. NOTE: EACH KIT CONTAINS 1 FLOW CONTROL KIT NUMBER 7696-1 7696-1 7696-1 7696-7696- 7696-6B-14 www.phdc.com/grb All dimensions are reference only unless specifically toleranced.
APPLICATIONS & CONCEPTS: SERIES GRB GRIPPERS The Series GRB 18 Angular Grippers are ideal for applications where the jaws or fgers must rotate completely clear of the work area. In this application, a Series GRB 18 Angular Gripper is used conjunction with a PHD Series RA Rotary Actuator and a PHD Series SM Slide to grasp, lift, and rotate a part 18. The Series GRB Gripper s jaws rotate clear of the work area when not use, elimatg the need for an additional horizontal axis of movement. The use of a typical gripper would require an actuator to move the gripper back out of the way after the part has been rotated. The Series GRB 18 Angular Gripper saves money by elimatg a lear actuator from this application. This application shows the Series GRB 18 Angular Gripper used conjunction with a PHD Series RI Rotary Actuator to grasp a part and rotate it 9. The gripper is able to grasp the object, change its position 9, and replace the object without the use of a vertical axis. Once the object has been replaced, the Series GRB jaws rotate completely clear of the work area, allowg normal work flow. As the other example, an axis of motion is elimated, savg money. SERIES SM SLIDE SERIES RI ROTARY ACTUATOR SERIES RA ROTARY ACTUATOR SERIES GRB GRIPPER (SHOWN IN RAISED & LOWERED POSITIONS) C D SERIES GRB GRIPPER A B A B C ACTIONS: A- CLOSE, B- ROTATE 9, A- OPEN, C- MOVE ACTIONS: A- CLOSE, B- UP, C- ROTATE 18, B- DOWN, A- OPEN, D- MOVE CUSTOM PRODUCTS & SOLUTIONS 6B Smaller or larger bore sizes Alternate Angles of Rotation Fluid compatibility Alternate port locations Alternate mountg locations Manifold Ports TANDEM ROTATION ADJUSTMENT SPRING ASSIST ALTERNATE JAW ALTERNATE JAW SINGLE JAW ROTATION www.phdc.com/grb 6B-1
6B NOTES 6B-16 www.phdc.com/grb
6C ANGULAR GRIPPERS SERIES 84, 19, 86 JAW, & INDEX: Series 84 Pages 6C-1 to 6C-6 Series 19 Pages 6C-8 to 6C-1 Series 86 Jaw Pages 6C-14 to 6C-18 Series Pages 6C- to 6C- SERIES 19 SERIES 84 SERIES 86 JAW SERIES 6C-1 www.phdc.com/products/grippers
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES 84 ANGULAR GRIPPERS 6C TO ORDER SPECIFY: Model, Design No., Options, and Seals. DESIGN NO. OPTIONS 841 - - 1 MODEL 84 -.7 Size 841 -. Size 84 -.7 Size 84-1. Size OPTIONS - Hall Sensor Ready without sensor - Hall Sensor (See note 1.) - Proximity Switch Ready (Not available for Model 84) SEALS 1 - Buna-N - Fluoro-Elastomer PART NO. 184-1- 184-- PROXIMITY SWITCHES DESCRIPTION 4 Round Current Skg (NPN) 4 Round Current Sourcg (PNP) PROXIMITY SWITCH KIT TO FIT: 841 84 84 KIT NO. 1981 19814 1961 See page 6C- for details. NOTES: 1) Sensor must be used with a PHD Set Pot Module which is ordered separately. See Switches and Sensors section for formation and orderg data. ) Proximity Switches, Bracket Kits, and Fger Blanks must be ordered separately. See page 6C-. TO FIT: 84 841 84 84 FINGER BLANK KITS ALUMINUM 87 87 877 1861 DELRIN AF 874 876 878 18614 HALL SENSOR KITS GRIPPER SENSOR KIT NUMBER 84 196-1 841 197-1 84 198-1 84 18686-4 CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. EED N T O FIT 6C- www.phdc.com/84a
BENEFITS: SERIES 84 ANGULAR GRIPPERS OPERATING PRINCIPLE A double-actg piston is attached to a central pivot by a connectg rod. Each jaw has a pivot p serted through the central pivot as well as a hge p serted to the gripper body. As air pressure is applied to either end of the piston, the jaw is forced to rotate about the hge p by the central pivot and p. This rotation provides the openg and closg of the jaws. BENEFITS Compact size is ideal for handlg small parts confed areas. Double-actg for either ternal or external gripper applications. Rugged jaw and body construction can withstand high impact and shock loads. Available four sizes to cover a wide range of application requirements. SPECIFICATIONS SERIES 84 WORKING PRESSURE 4 psi M. - 1 psi Air Max. BODY Hardcoated Alumum PIVOT COMPONENTS Alloy Steel JAWS Steel ROD BUSHINGS Delr AF SEALS Quad Type Piston and Rod LUBRICATION Permanent for Non-Lube Air PORTS Straight Thread OPTIONS Hall Sensor, Proximity Switches 6C Hardened steel pivot mechanism provides long life beyond million trouble-free cycles. Close tolerance jaw mechanism elimates jaw play and dowel holes precisely position customer toolg. The gripper body has three mountg surfaces with dowel holes providg accurate mountg a variety of attitudes. Simple construction allows the grippers to be easily repaired the field. Available with Hall Effect Sensor for dication of jaw position and terfacg with various controllers and logic systems. Available with blank fgers for custom fittg of fgers to the part s shape. Available with proximity switches for dication of jaw position and terfacg with various controllers and logic systems. www.phdc.com/84a 6C-
DIMENSIONS: SERIES 84 ANGULAR GRIPPERS OPTIONAL HALL SENSOR LOCATION 6X HOLE FOR W DOWEL PIN IN BODY T U* P U* T 8X Q THREAD IN BODY Z O N* P SQ LETTER MODEL NUMBER DIM 84 841 84 84 B.7.9 1.4 1.98 C.196..16.49 D.1.187..1 E..4.4.7 F..1.44.6 G -48 4-4 6-8- H.7.4.4.7 J.8.11.16.19 K.7.7 1.7 1.41 L.98.11.1.17 M.4.48.6.869 N*.187..7.7 O.16.17..7 P..6.87 1. Q 4-4 x.16 DP 6-x.187 DP 8- x.81 DP 1-4 x.7 DP R.966 1.19 1.48.4 S.94.16.18.6 T..4..688 U*..687 1. 1.7 W 1/16 / 1/8 / Y.196...4 Z.9.1.187. AA..9.44.6 BB -6 1-1- 1/8 NPT CC.1.14.16.64 DD..41..7 EE.1.14..6 FF 1/16 / 1/8 1/8 *TOLERANCE IS ±.8 6C M N* O P R S REF JAW PIVOT CENTERLINE K SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL C 6 D 14 MIN MIN THRU HOLE FOR FF DOWEL PIN EACH JAW X G THREAD THRU EACH JAW JAW PIVOT J B SQ 4 GRIPPER JAWS: SHOWN AT PARALLEL POSITION JAW MOVEMENT SHOWS MINIMUM AMOUNT OF JAW ROTATION. JAWS MAY OPEN OR CLOSE BEYOND STATED MINIMUM ROTATION. 1 Y L E F AA F/ DD H EE MAX GRIPPER MECHANISM WHEN JAWS ARE FULLY OPENED CC X BB PORT FITTING FOR 1/16 ID TUBE IS SUPPLIED WITH UNIT EXCEPT ON 84 UNITS 6C-4 www.phdc.com/84a All dimensions are reference only unless specifically toleranced.
6C OPTIONS & ACCESSORIES: SERIES 84 ANGULAR GRIPPERS FINGER BLANKS X J DIA THRU D E F K C B H +. DIA -.1 FIXTURING HOLE L RAD A G LETTER MODEL NUMBER DIM 84 841 84 84 A 1. 1... B.4.44.69.99 C.4...79 D..1.44.6 E.11.16..1 F.9.11.17. G.187..1. H.6.97.14.14 J.19.19.16.18 K.18..4. L.94.94.16.4 FINGER BLANK KITS: CONTAIN FINGER BLANKS, 4 MTG SCREWS, & DOWEL PINS FINGERS MAY ALS BE MOUNTED FACING OUTWARD FINGER MATERIAL FINGER BLANK KIT NO ALUMINUM 87 87 877 1861 DELRIN AF 874 876 878 18614 SENSOR/TRANSDUCER PHD offers a solid-state sensor transducer option - for use with a Set Pot Module for sensg four or more positions throughout the jaw travel. The Set Pot Module is ordered separately and allows dependent adjustment of each sensg position and is available for 4. to 4 VDC NPN or PNP. PART NO. DESCRIPTION 98-1- 4.-4 VDC, Sk Type Output 98-1-4 4.-4 VDC, Source Type Output See Switches and Sensors section for formation. SET POINT MODULE PROXIMITY SWITCH READY Provides unit ready for stallation of kits for proximity switch mountg. PROXIMITY SWITCHES PART NO. DESCRIPTION 184-1- 4 ROUND CURRENT SINKING (NPN) 184-- 4 ROUND CURRENT SOURCING (PNP) SEE SWITCHES AND SENSORS SECTION FOR DETAILS. GRIPPER 841 84 84 KIT 1981 19814 1961 LETTER DIMENSION A.94.94.94 B.74.77 1.19 C...86 EACH PROXIMITY SWITCH KIT CONTAINS THE FOLLOWING ITEMS: 1 TARGET WITH SCREW 1 SWITCH BRACKET WITH SCREW PROXIMITY SWITCHES ARE ORDERED SEPARATELY..4 MAX.6.7 x.1 DP. MAX SENSING DISTANCE A.984 C.1 RAD B X -48 UNC THREAD x.1 MIN DEEP SLOT DETAIL FOR SWITCH BRACKET OPTIONAL 4 DIA PROXIMITY SWITCH WITH m CABLE LENGTH All dimensions are reference only unless specifically toleranced. www.phdc.com/84a 6C-
ENGINEERING DATA: SERIES 84 ANGULAR GRIPPERS SPECIFICATIONS UNIT GF GF GRIPPER DISPLACEMENT WEIGHT EXTERNAL INTERNAL NO. oz GRIP GRIP 84.1.9.7. 841.6..68.9 84.11 6...6 84. 17..76.774 NOTE: Maximum load that grippers can handle will vary based on: size of part beg picked up, shape of part, texture of part, speed at which part is transferred, workg pressure, shape of fger pads, etc. PHD recoends that the fgers or jaws be tooled or mached to conform to the shape of the part beg gripped. PRESSURE (psi) x GF DISTANCE FROM JAW PIVOT () = FORCE (lb) NOTE: Grippg force is defed as the maximum value at which the jaws will not move from their grippg position. The above figures are based on calculations and will vary slightly due to friction. Grippg force is proportional to put pressure. SEALS AND FLUIDS Buna-N seals are standard on all Series 84 Grippers. Piston and rod seals are quad type seals. These seals are compatible with standard paraff-base hydraulic fluids used for lubrication of air cylders. Fluoro-Elastomer seals place of Buna-N are optional for special applications. Consult PHD for high temperature use. TEMPERATURE LIMITS Seals and grippg mechanism are designed for use temperatures from to 18 F. BACKLASH Backlash of each angular gripper jaw will be less than 1. Sideplay will be less than.. 6C LIFE EXPECTANCY All units have been tested to million cycles with mimum seal wear and mimum backlash. LUBRICATION Piston and rod as well as grippg mechanism are prelubricated at the factory for service under normal conditions. MATERIAL Angular gripper body is made of hardcoated alumum. Jaws are steel. The optional fger blanks are anodized alumum or Delr AF. All central pivot components are alloy steel. SPECIAL UNITS For grippers for special applications, severe duty or special material, consult PHD. 6C-6 www.phdc.com/84a
6C NOTES www.phdc.com/84a 6C-7
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES 19 ANGULAR GRIPPERS 6C TO ORDER SPECIFY: Model, Design No., Sensor or Switch Options, Sprg Options, and Seals. DESIGN NO. OPTIONS SPRING OPTIONS - None 1 - Sprg close (Sgle actg only) - Sprg open (Can be used as double actg) Options -1 and - not available on Model 19 19 - - 4 MODEL BORE NO. 19.4 9 191. 1. 19.7 19 1. SENSOR OR SWITCH OPTIONS 4 - Hall Effect Sensor Ready (See note 1.) (Not available with sprg option) - Proximity Switch Ready (4 round switches) SEALS - Fluoro-Elastomer FINGER KITS MODEL NO. 19 191 19 19 PART NO. 187 1871 187 187 PROXIMITY SWITCH BRACKET & TARGET KITS MODEL NO. 19 191 19 19 PART NO. 1874 189 187 1891 Includes one each: target, bracket, and screw PART NO. 184-1- 184-- NOTES: 1) Hall Sensor must be used with a PHD Set Pot Module which is ordered separately. See Switches and Sensors section for formation and orderg data. ) Proximity switches, bracket kits, and fger kits must be ordered separately. PROXIMITY SWITCHES DESCRIPTION 4 Round Current Skg (NPN) 4 Round Current Sourcg (PNP) See Switches and Sensors section for details. HALL EFFECT SENSOR KITS MODEL NO. 19 191 19 19 PART NO. 187-4 188-4 189-4 186-4 Not available with sprg option. CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. EED N T O FIT 6C-8 www.phdc.com/19a
BENEFITS: SERIES 19 ANGULAR GRIPPERS BENEFITS Compact size for handlg small parts confed areas. Double actg for either ternal or external gripper applications. Rugged jaw and body construction to withstand high impact and shock loads. Available four sizes to cover a wide range of application requirements. Hardened steel pivot mechanism for long life beyond 1 million trouble-free cycles. SPECIFICATIONS SERIES 19 MINIMUM PRESSURE psi [ bar] MAX. PRESSURE 1 psi [1 bar] JAWS Steel BODY Hardcoated Alumum ROD BEARING Delr AF SEALS Quad Type LUBRICATION Permanent for Dry Air PORTS Straight Thread OPTIONS Proximity Switches, Hall Sensor, Fger Blanks 6C Close tolerance jaw mechanism mimizes jaw play and dowel p holes allow precise positiong of toolg. The gripper body has three mountg surfaces with dowel p holes providg accurate mountg a variety of attitudes. Simple construction allows the grippers to be easily repaired the field. Available with a PHD Hall Effect Sensor or with PHD Hall Effect Proximity Switches for dication of jaw position and terfacg with various controllers and logic systems. Available with fger blanks for machg to suit specific applications. www.phdc.com/19a 6C-9
DIMENSIONS: SERIES 19 ANGULAR GRIPPERS 8X Q THREAD 6X CLEARANCE HOLE FOR W DOWEL PIN SEE PROXIMITY SWITCH OPTION PAGE FOR DETAIL P P LETTER MODEL NO. DIM. 19 191 19 19 B. 6. 8.. C. 6. 8. 1. D.. 6. 8. E 7. 9. 14. 19. F 6. 8. 1. 16. G M. x.4 M x. M4 x.7 M x.8 H 1. 17. 4. 6. K 16. 19. 8. 6. L.. 4.. M 6. 8. 1. 1. O* 14. 18.. 8. P* 14. 18. 8. 9. Q M x. M x. M4 x.7 M x.8 x 4. x 4. x 6 x 7. R.. 4. 1. S. 4.. 6. U... 4. W.. 4.. Y 6. 7. 9. 11. Z M M M4 M AA 1. 1. 17..9 BB M x. M x. M x.8 M x.8 CC.. 4.. DD 1. 14. 14. 19. EE 4.6 4.6 7. 1. FF.... * TOLERANCE BETWEEN DOWEL PIN HOLES IS ±. X THRU Ø AND C BORE FOR Z SHCS 6C EE MAX GRIPPER MECHANISM WHEN JAWS ARE FULLY OPENED JAW PIVOT POINT H AA F/ F 1 MIN REF JAW POINT CENTERLINE 4 MIN 6 1 E L Y CLEARANCE HOLE FOR U DOWEL PIN 1X EACH JAW X G THREAD THRU EACH JAW BB PORT FITTING FOR FF I.D. TUBE IS SUPPLIED WITH UNIT REF JAW POINT CENTERLINE DD CC D P 4 B C O M S K R JAW MOVEMENT SHOWS MINIMUM AMOUNT OF JAW ROTATION. JAWS MAY OPEN OR CLOSE BEYOND STATED MINIMUM ROTATION. 6C-1 www.phdc.com/19a All dimensions are reference only unless specifically toleranced.
OPTIONS & ACCESSORIES: SERIES 19 ANGULAR GRIPPERS 4 HALL SENSOR READY Provides unit stalled with magnet for use with PHD Hall sensor. C 9. B A. GRIPPER KIT LETTER DIMENSION MODEL NO. A B C 19 187-4 6. 16.. 191 188-4 9. 14.. 19 189-4 46. 7.6 8. 19 186-4 8. 7.6. EACH HALL SENSOR KIT CONTAINS THE FOLLOWING ITEMS: 1 SENSOR WITH 4 m SHIELDED CABLE 4 SOCKET HEAD CAP SCREWS SENSOR MAY BE ROTATED TO ALLOW CABLE TO EXTEND FROM ANY SIDE OF UNIT EXCEPT THE PORT SIDE. PROXIMITY SWITCH READY This option provides the gripper with an extended jaw pivot p for use with a switch target. This p and target are tended for use with a 4 round proximity switch with a.8 sensg range. Switches and Bracket and Target kits are ordered separately. See Switches and Sensors section for Proximity Switch details and additional formation on switch bracket/target kits. 9. MAX 6. GRIPPER KIT LETTER DIMENSION MODEL NO. A B C 19 1874. 8. 6. 191 189 4. 1. 6. 19 187 1.. 7. 19 1891 1. 1.1 7. EACH PROXIMITY SWITCH KIT CONTAINS THE FOLLOWING ITEMS: 1 TARGET WITH SCREW 1 SWITCH BRACKET WITH SCREW PROXIMITY SWITCHES ARE ORDERED SEPARATELY. 7. x.8 DP A.8 MAX SENSING DISTANCE, 8. RAD C B. x.4 x. (x) 6C SLOT DETAIL FOR SWITCH BRACKET OPTIONAL 4 Ø PROXIMITY SWITCH WITH m CABLE LENGTH FINGER BLANKS A X J Ø THRU E H ±.1 Ø FIXTURING HOLE LETTER MODEL NO. DIM. 19 191 19 19 A 4. 8. 1. 6. B 9. 1. 18.. C 6. 9. 14. 19. D 6. 8. 1. 16. E. 4. 6. 8. F.. 4.. G. 6. 8. 1. H 1.97.47.97.97 J.9.4 4..6 K 4. 7. 11. 14. L.. 4.. BLANK FINGER KITS KIT NO. 187 1871 187 187 EACH FINGER KIT CONTAINS THE FOLLOWING ITEMS: ALUMINUM FINGER BLANKS 4 SOCKET HEAD CAP SCREWS DOWEL PINS D G F K C B L RAD All dimensions are reference only unless specifically toleranced. www.phdc.com/19a 6C-11
ENGINEERING DATA: SERIES 19 ANGULAR GRIPPERS SPECIFICATIONS UNIT WEIGHT GRIPPER DISPLACEMENT STANDARD SPRING ASSIST GF GF NO. cm g g EXTERNAL GRIP INTERNAL GRIP 19. 4 191.6 8 86 11 1 19.1 17 4 19 4.9 47 48 94 164 NOTE: Maximum load that grippers can handle will vary based on: Size of part beg picked up, shape of part, texture of part, speed at which part is transferred, workg pressure, shape of fgers, etc. PHD recoends that the fgers of jaws be tooled or mached to conform to the shape of the part beg gripped. However, if friction is the only means by which the part is beg held, a mimum 4 to 1 grippg force to part weight ratio should be used. PRESSURE (kpa) x.1 x GF PRESSURE = FORCE (N) DISTANCE FROM JAW PIVOT () (bar) x GF = FORCE (N) DISTANCE FROM JAW PIVOT () 6C SEALS AND FLUIDS Fluoro-Elastomer seals are standard on all angular Series 19 Angular Grippers. Piston and rod seals are quad type seals and are compatible with standard paraff-based lubrication oils used for pneumatic cylders. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from to 18 F [ 9 to 8 C]. LIFE EXPECTANCY All units have been tested to 1 million cycles with mimal seal wear and mimal backlash. LUBRICATION Piston, rod, and gripper mechanism are prelubricated at the factory for service under normal conditions. MATERIAL Angular gripper body is made of hardcoated alumum. Jaws are steel with all central pivot components manufactured from alloy steel. Optional fger blanks are gold anodized alumum. SPECIAL UNITS Grippers for special applications, severe duty, or constructed of special materials are available, consult PHD. B A BACKLASH Backlash (B) of each angular gripper jaw is less than 1 degree. Jaw side play (A) is less than.. 6C-1 www.phdc.com/19a
6C NOTES www.phdc.com/19a 6C-1
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES 86 JAW GRIPPERS 6C TO ORDER SPECIFY: Model, Design No., Options, and Seals. DESIGN NO. OPTIONS 864-1 - 1 IMPERIAL MODEL OPTIONS JAW ANGULAR 864 - Size 864 - Size 8644 - Size 4 864 - Size METRIC MODEL JAW ANGULAR 86 - Size 86 - Size 864 - Size 4 86 - Size - None - Hall Sensor 4 - Sensor Ready OPTIONS SEALS 1 - Buna-N - Fluoro-Elastomer NOTE: Sensor must be used with a PHD Set Pot Module which is ordered separately. See Switches and Sensors section for formation and orderg data. PART NO. 98-1- 98-1-4 SET POINT MODULE DESCRIPTION 4.-4 VDC, Sk Type Output 4.-4 VDC, Source Type Output See Switches and Sensors section for formation. CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. EED N T O FIT 6C-14 www.phdc.com/86a
BENEFITS: SERIES 86 JAW GRIPPERS BENEFITS Double-actg for either ternal or external gripper applications. Rugged jaw and body construction can withstand high impact and shock loads. Each available four sizes to cover a wide range of application requirements. Close tolerance jaw mechanism mimizes jaw play. Mountg surfaces with dowel holes allow easy, accurate mountg a variety of attitudes. SPECIFICATIONS WORKING PRESSURE BODY PIVOT COMPONENTS JAWS ROD BUSHINGS PISTON SEALS ROD SEALS LUBRICATION PORTS OPTIONS JAW psi M. - 1 psi Max. Air [1. bar M. - 1 bar Max. Air] Hardcoated Alumum Hardened Alloy Steel Black Anodized Alumum Bronze Quad Type Block Vee Permanent for Non-Lube Air 1/8 NPT [1/8 BSP] Hall Sensor 6C Simple construction allows the grippers to be easily repaired the field. Hardened steel pivot mechanism provides long life. Available with Hall Effect Sensor for dication of jaw position and terfacg with various controllers and logic systems. Designed for applications where gripper weight and size is critical. www.phdc.com/86a 6C-1
DIMENSIONS: SERIES 86 JAW GRIPPERS 6C REF JAW PIVOT CENTERLINE X F X HOLE FOR W DOWEL PIN AA 1 V SQ P 4X Q THREAD Z N* P SQ 4 T U* C DIA 6 L O 6X Q THREAD M S R K LETTER DIM B C D E F G H J K L M N* O P Q R S T U* V W X Y Z AA CC DD 864 1.46....47 1-4 x.8 DP 1.7..64.81 1.6.7.7 1. 1-4 x.8 DP.188.7.687 1.7 1.7 / x.187 DP.87 1.188..17.7.6 86 1. 76. 1.. 11. M x.8 x 7. DP 7. 14. 16.. 4. 17.78 7. 1. M x.8 x 9. DP. 8. 17. 4.9 44. 4. x... 8.. 9. 16. 864 1.87.7.7.1.6 1/4- x.8 DP 1..96.81.816 1.788.7.7 1. 1/4- x.8 DP.476.44.87 1.7. /16 x. DP 1.1 1..7.6.41.69 MODEL NUMBER 86 4. 9. 19. 6. 16. M6 x 1 x 9. DP... 1. 4. 19. 9. 8. M6 x 1. x 9. DP 6. 11.. 44.4 7.. x 6. 8. 8. 9. 1. 1. 17. 8644. 4.7.87.187.7 /16-18 x.44 DP 1.6 1..968.94. 1.1.1 1.7 /16-18 x.44 DP.9.6 1.94.188.7 1/4 x. DP 1.7 1.87.6.9.44.89 NOTES: 1) *TOLERANCE IS ±. [±.1] ) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN ) CIRCLED NUMBERS INDICATE POSITION. 864 1. 1... 19. M8 x 1. x 11. DP 41.. 4. 4. 1. 8.7 8. 44. M8 x 1. x 11. DP 7. 14. 7..7 7. 7. x 6.. 47. 14.. 11.. 864.94 6. 1..6 1. /8-16 x.6 DP.1 1.118 1. 1.46.619 1.7..7 /8-16 x.6 DP.86.74 1.6.1 4. /16 x.1 DP 1.7.4.87.1.7 1.4 86 66. 19.. 1.. M1 x 1. x 14. DP 9. 8.. 1. 66. 44.4 1. 7. M1 x 1. x 14. DP 96. 19. 9. 79.7 11. 8. x 8. 4. 6.. 4. 14. 1. D 4X Q THREAD EACH JAW Y F E J 6. MIN H 6. MIN B DD CC 1 OPTIONAL HALL SENSOR LOCATION X 1/8 NPT [1/8 BSP] JAW MOVEMENT SHOWS MINIMUM AMOUNT OF JAW ROTATION. JAWS MAY OPEN OR CLOSE BEYOND STATED MINIMUM ROTATION. 6C-16 www.phdc.com/86a All dimensions are reference only unless specifically toleranced.
ENGINEERING DATA: SERIES 86 JAW GRIPPERS SPECIFICATIONS JAW GRIPPERS UNIT GF EXTERNAL GF INTERNAL GRIPPER DISPLACEMENT WEIGHT GRIP GRIP NO. cm lb kg IMPERIAL METRIC IMPERIAL METRIC 86x.17.79 1.4.6.4 7.9 941 86x.41 6.8.74 1.4 1.18 1946 1.4 46 864x 1.74 17.6..8.18 1.69 661 86x.86.86 9.9 4.49 1.7 16 11.4 1881 NOTE: Maximum load that grippers can handle will vary based on: size of part beg picked up, shape of part, texture of part, speed at which part is transferred, workg pressure, shape of fgers, etc. PHD recoends that the fgers of jaws be tooled or mached to conform to the shape of the part beg gripped. PRESSURE (psi) x GF DISTANCE FROM JAW PIVOT () PRESSURE [bar] x GF DISTANCE FROM JAW PIVOT [] = FORCE (lb) = FORCE [N] NOTE: Grippg force is defed as the maximum value at which the jaws will not move from their grippg position. The above figures are based on actual measured results; figures may vary slightly due to friction. Grippg force is proportional to put pressure. SEALS Buna-N seals are standard on all 86 angular gripper piston, rod, and bushg seals. Neoprene seals are used on the grippg mechanism. Rod seals are wear compensatg block vee type and piston seals are quad type. These seals are compatible with standard paraff-base hydraulic fluids used for lubrication of air cylders. Fluoro-Elastomer seals place of the Buna-N are optional for various types of hydraulic fluids. Consult PHD for high temperature use. TEMPERATURE LIMITS Seals and grippg mechanism are designed for use temperatures from to 18 F [ to 8 C]. Consult PHD for higher temperature requirements. BACKLASH Backlash of gripper jaw will be less than. itially, per jaw. LIFE EXPECTANCY Five million trouble-free cycles can be expected under normal workg conditions. Life can be extended by relubricatg ball and socket jot after five million cycles. Backlash after five million cycles should be no more than 1. LUBRICATION Piston and rod as well as grippg mechanism are prelubricated for service under normal conditions and can be used for non-lube service. At five million cycles, gripper may be relubricated for extended life. MATERIAL Gripper body is made of hard coated alumum. Jaw housgs are anodized alumum and the jaws are alumum alloy. All ternal jaw mechanisms are manufactured from alloy steel. REPEATABILITY Grip repeatability is with. [. ] of origal centered position. SPECIAL UNITS For grippers for special applications, severe duty, or special material, consult PHD. 6C www.phdc.com/86a 6C-17
6C OPTIONS: SERIES 86 JAW GRIPPERS 4 SENSOR/TRANSDUCER PHD offers a solid-state sensor transducer option - along with a Set Pot Module for sensg four or more positions throughout the jaw travel. The Set Pot Module allows dependent adjustment of each sensg position and is available for 4. to 4 VDC NPN or PNP. SET POINT MODULE PART NO. DESCRIPTION 98-1- 4.-4 VDC, Sk Type Output 98-1-4 4.-4 VDC, Source Type Output See Switches and Sensors section for formation. 6C-18 www.phdc.com/86a
6C NOTES www.phdc.com/86a 6C-19
PRODUCTS CUSTOM CUSTOM ORDERING DATA: SERIES ANGULAR GRIPPERS 6C TO ORDER SPECIFY: Model, Design No., Switches, Options, and Seals. SENSORS & SWITCHES - None - Hall Sensor (See note 1.) 4 - Hall Sensor Ready 7 - Hall Effect Magnet on piston and T slot on body for Series 6 Hall Switches OPTIONS - None LIGHT SPRING FORCE - Sprg Close 4 - Sprg Open HEAVY SPRING FORCE - Sprg Close 6 - Sprg Open 11-1 - IMPERIAL MODEL JAW STYLE 1 1 - Size 1 - Size 14 - Size 4 1 - Size JAW STYLE 11 - Size 11 - Size 141 - Size 4 11 - Size METRIC MODEL JAW STYLE 1 1 - Size 1 - Size 14 - Size 4 1 - Size JAW STYLE 1 - Size 1 - Size 14 - Size 4 1 - Size DESIGN NO. SERIES 6 MINIATURE HALL EFFECT SWITCHES DESCRIPTION PART NO. 6-1- 64-1- 6-1 64-1 NOTES: 1) Sensor must be used with a PHD Set Pot Module which is ordered separately. See Switches and Sensors section for formation and orderg data. ) Proximity Switches, Bracket Kits, and Fger Blanks must be ordered separately. OPTIONS SEALS 1 - Buna-N - Fluoro-Elastomer NPN (Sk) 4.-4 VDC, meter Cable PNP (Source) 4.-4 VDC, meter Cable NPN (Sk) 4.-4 VDC, Quick Connect PNP (Source) 4.-4 VDC, Quick Connect See Switches and Sensors section for switch formation. CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD. EED N T O FIT 6C- www.phdc.com/a