GRH SERIES GRH PARALLEL GRIPPERS. Long Jaw Travel, Low Profile Gripper with Large Moment Capacities GRH01

Transcription

1 GRH SERIES GRH PARALLEL GRIPPERS Long Jaw Travel, Low Profile Gripper with Large Moment Capacities

2 ORDERING DATA: SERIES GRH PARALLEL GRIPPERS INDEX: Ordering Data Page 2 Benefits Page Dimensions Pages 4 and Engineering Data Page Options & Accessories Pages 7 and 8 SYNCHRONIZATION 0 - Non-synchronized jaws 1 - Synchronized jaws DESIGN NO. - Metric TO ORDER SPECIFY: Product, Design No., Size, Minimum Total Jaw Travel, and any options required. OPTIONS (Omit if not required) MANIFOLD OPTION L11-UB99 - Manifold option in location 99 PORT OPTION L9 - Imperial port (size 20 only, sizes 8-1 have interchangeable ports) MAGNETS FOR SENSOR E - Magnets added to piston for position feedback sensor (rectangular slot on side opposite of ports) See Note 2. LUBRICATION Y4 - Cleanroom Grade Lubricant GRH x - L11-UB99 PRODUCT Low Profile Extra Long Travel Parallel Gripper JAW STYLE 2 1) Corrosion resistant coating and material is standard. 2) Magnets for Series JC Switches, port side, are standard. PRODUCT SIZE BORE SIZE mm inch 8 (.1) 12 (.472) 1 (.0) 20 (.787) MINIMUM TOTAL JAW TRAVEL Total Travel Per Bore Size mm in 0 (1.99) 7 (2.9) 100 (.97) 12 (4.921) SERIES JC1SD MAGNETIC SWITCHES PART NO. JC1SDP- JC1SDP-K JC1SDN- JC1SDN-K SWITCH DESCRIPTION PNP (Source), Solid State, 10-0 VDC, meter cable PNP (Source), Solid State, 10-0 VDC, Quick Connect NPN (Sink), Solid State, 10-0 VDC, meter cable NPN (Sink), Solid State, 10-0 VDC, Quick Connect Includes one switch and installation directions. STANDARD PORT IN LOCATION 1 99 OPTION: MANIFOLD IN LOCATION 99 SERIES JC1ST 2 POSITION TEACHABLE MAGNETIC SWITCHES PART NO. JC1STP-2 JC1STP-K PART NO SWITCH DESCRIPTION PNP (Source), Solid State, 12-0 VDC, 2 meter cable PNP (Source), Solid State, 12-0 VDC, Quick Connect Includes one switch and installation directions. MATCHING CORDSETS SWITCH DESCRIPTION M8, Pin, Straight Female Connector, 2 meter cable M8, Pin, Straight Female Connector, meter cable 1 TOTAL JAW TRAVEL = OPEN POSITION - CLOSED POSITION OPEN POSITION CLOSED POSITION 2 Copyright 201, by PHD, Inc. All Rights Reserved. Printed in the U.S.A.

3 SERIES GRH PARALLEL GRIPPERS angled jaws urethane lip seals four mountings to closed position to centered jaw mounting pattern hardcoated aluminum body with precision machined jaw guides steel jaw driver wide jaws provide additional standard unit includes magnet PATENT PENDING GRH0 non-synchronized jaws internal speed controls standard, no corrosion resistant manifold multi-position analog sensor ready option -E impact absorbing shock pads on full open and close decreasing noise Major Benefits capacities Industry/Process Uses Long Jaw Travel For versatility in part size pick-up Large Moment Capacities For a wide variety of applications Low Profile Reduces moments for robots

4 DIMENSIONS: SERIES GRH PARALLEL GRIPPERS C L 2X Ø K [H9] DOWEL PIN HOLE 2X K THD K7 K8 K9 MANIFOLD OPTION L11-UB99 (SEE OPTION PAGE) 2X K1 THD K4 K X Ø K2 [H9] DOWEL PIN HOLE OPEN PORT B4 P2 B 2X THRU HOLE FOR K10 MOUNTING FASTENER K11 P P4 P K12 J8 B2 K14 CLOSE PORT 2X P1 PORT B1 K J B J7 J 2X THRU HOLE FOR K1 MOUNTING FASTENER (JAWS MUST BE IN THE CLOSED POSITION TO ACCESS) J4 4X Ø J2 [H9] DOWEL PIN HOLE 4X J1 THD A *A OPEN +2. / -0.0 *A CLOSED +0.0 / -2. J 1/2 * J LONGER / SHORTER JAW TRAVEL INDEPENDENTLY POWERED JAWS ALTERNATE JAW STYLES ALTERNATE PORT LOCATIONS 4

5 DIMENSIONS: SERIES GRH PARALLEL GRIPPERS MODEL NUMBER GRHx2--8 x 0 GRHx2--12 x 7 GRHx2--1 x 100 GRHx2--20 x 12 LETTER DIM mm mm mm mm J1 J2 J J J J J J K1 K2 Ø Ø Ø Ø K K K Ø Ø Ø Ø K DP DP DP DP K K K10 K K K1 K P1 P P P P

6 ENGINEERING DATA: SERIES GRH PARALLEL GRIPPERS SERIES GRH SPECIFICATIONS METRIC IMPERIAL Mz Mx Fa Mx MINIMUM TOTAL JAW TRAVEL TOTAL GRIP FORCE AT bar [87 psi] GRIPPER WEIGHT ONE DIRECTION DISPLACEMENT CLOSE OR OPEN TIME AT bar [87 psi] MAX TOOLING LENGTH GRIP FORCE FACTOR SIZE mm in N lb kg lb cm in sec mm in METRIC IMP My My AXIAL FORCE MAXIMUM INDIVIDUAL MOMENTS Fa Mx My Mz SIZE N lb N-m in-lb N-m in-lb N-m in-lb RECOMMENDATIONS Design tooling so that the grip point is as close to the gripper GRIP FORCE Total Grip Force N [lb] 0 [78.7] 00 [7.4] 20 [.2] 200 [4] 10 [.7] 100 [22.] 0 [11.2] [0.8] Size 8 Size 12 Size 1 Size [1.] Grip Force at bar [87 psi] 0 [2.4] 80 [.1] 100 [.9] Tooling Length in [mm] 120 [4.7] 140 [.] 10 [.] plane plane applicable. TOOLING LENGTH FACTOR GRIP FORCE CALCULATION EQUATIONS: METRIC: IMPERIAL: Tooling Length Factor [1.0] [0.9] [0.9] [0.8] [0.8] [0.7] 0 Size 8 Size 12 Size 1 Size [1] Tooling Length Factor 0.8 [2] 7.2 [] 101. [4] Tooling Length mm [in] 127 [] 12.4 []

7 OPTIONS: SERIES GRH PARALLEL GRIPPERS L11-UB99 MANIFOLD PORTS MANIFOLD OPTION L11-UB99 2X PORT PLUG Ø P10 (SIZE 20 ONLY) SERIES GRH GRIPPER P11 CUSTOMER MANIFOLD MOUNTING SURFACE B 2 B MANIFOLD CLOSED 1 P9 B4 2X PORT PLUG HEIGHT P11 STANDARD SIZE 20 ONLY 4 P8 MANIFOLD OPEN Ø P10 O-RING P7 Ø P MANIFOLD PORTING DIMENSIONS FOR CUSTOMER USE (DIMENSIONS REQUIRED ON CUSTOMER MOUNTING SURFACE) MODEL NUMBER GRHx2--8 x 0 GRHx2--12 x 7 GRHx2--1 x 100 GRHx2--20 x 12 LETTER DIM mm mm mm mm P P P P REPLACEMENT MANIFOLD SEAL KITS SIZE KIT NUMBER MANIFOLD CONVERSION KITS SIZE KIT NUMBER Y4 CLEANROOM GRADE LUBRICANT L9 IMPERIAL PORTS 7

8 OPTIONS & ACCESSORIES: SERIES GRH PARALLEL GRIPPERS E MAGNETS FOR SENSOR IN T-SLOT SIDE OPPOSITE OF PORTS MULTI-POSITION SENSOR NOT INCLUDED T-SLOT FOR SWITCH -SIDE OPPOSITE OF PORTS PORTS L. 2. MAX 4MM ROUND SLOT FOR JC SERIES SWITCHES MAGNETS STANDARD.4 DETAIL L SERIES JC1SD MAGNET SWITCH Connect. (18). SIZE 8 ONLY 4 mm ROUND SWITCH SLOT ADDITIONAL SWITCH JC1SD OR JC1ST CAN BE ADDED FOR MID-TRAVEL SENSING PORTS SERIES JC1ST TWO POSITION TEACHABLE MAGNETIC SWITCH CLOSED POSITION- SWITCH NOTE: NOTE: HS1 OPEN POSITION SWITCH (CAN BE FLIPPED ON LARGER SIZES) GRH02--8 x 0 MODEL NUMBER GRH x 7 SERIES 4mm ROUND SLOT FOR JC SWITCHES MAGNETS STANDARD GRH02--1 x 100 GRH x 12 LETTER DIM mm mm mm mm HS PHD, Inc Clubridge Drive P.O. Box 9070, Fort Wayne, Indiana 4899 U.S.A. www PHDinEurope GmbH Arnold-Sommer Baesweiler, Germany T www