Series MHY2/MHW Angular Gripper. Cam actuation style is now standardized! MHZ2 MHZJ2 MHQ MHL2 MHR MHK MHS MHC2 MHT2 MHY2 MHW2 MRHQ 2.
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1 18 Angular Gripper Cam Style Rack & Pinion Style Series / Cam actuation style is now standardized! 2.8-1
2 18 Angular Gripper 18 Angular Gripper Series / Cam Style Rack & Pinion Style Series / Series MHY/Cam Style Light and compact size in small bore sizes Series MHW/Rack & Pinion Style Unique seal design allows shorter total length construction and constant holding force when opening and closing fingers. (PAT.PEND) Model Bore size mm Effective holding moment Nm Overall length Lmm L Weight g Model Bore size mm Holding mement Nm Over length Lmm L Weight g -1D -16D -2D -2D At pressure of.mpa Improved mounting repeatability Resistance to dusty environments Reduced opening sizes helps prevent foreign substance from entering mounting at 4 locations Stainless steel fingers are standard. mounting at 4 locations Key connection is ideal for impact resistance. Key connection between finger and shaft prevents finger angle slippage during impact. -2D -2D -2D -4D -D At the pressure of.mpa Two finger styles available. Flat finger type Dust proof construction Right angle finger type Seal arrangement protects gripper from harsh dusty environments Bearings are standard. Assembly Transferring work Variation INDEX Clamping work Bore size (mm) Applicable auto Page Clamping of work Cam style Series MHY Solid state D- F9/F9 W type Water resistant 2 color indication D-F9BA Type P to Rack & Pinion style Series MHW Solid state D-Y/Y6 type D-Y7 type Water resistant 2 color indication D-Y7BA type P to
3 Series / How to Select the Applicable Model How to Select Procedure Step 1 Confirm holding force Confirm Step 2 Step holding force Confirm moment of inertia of attachments Step 1 Confirm holding force Condition check Calculation of required holding force Model selection from the holding force graph Example Work weight:.kg Guidelines on model selection according to work weight Although the condition differs according to the coefficient of friction between the attachment and work, select a model that can produce a holding force of 1 to 2 times the work weight. Further allowance should be provided when great acceleration or impact is expected during work transfer. Ex.) For setting the holding force to be at least 2 times the work weight; Required holding force =.kg X 2 X 9.8m/s 2 = 1N min. -16D Pressure.6MPa Holding point L = mm Operating pressure:.6mpa When -16D is selected, the holding force is determined to be 1N according to the holding point distance (L = mm) and the pressure (.6MPa). The holding force is 26 times the work weight meeting the guideline that holding force should be more than 2 times the set holding force value. Effective holding force Series / Double acting Indication of effective holding force The holding force shown in the tables represents the holding force of one finger when all fingers and attachments are in contact with the work. (F: Thrust of one finger) -1D Pressure.6MPa -2D Pressure.6MPa F F F External hold F -16D Pressure.6MPa -2D Pressure.6MPa L L
4 18 Angular Gripper Series / -2D 2 Pressure.7MPa D 1 Pressure.7MPa D Pressure.7MPa D Pressure.7MPa -4D Pressure.7MPa Step 2 Confirmation of holding point MHY 6 MHW 2 H Holding point H Holding point Overhang H (mm) D -16D -2D -2D Pressure P (MPa) Overhang H (mm) D -2D -2D -4D -D Pressure P (MPa) Work should be held at a point within the range of overhanging distance (H) for a given pressure indicated in the tables on the right. When the work is held at a point outside of the recommended range for a given pressure, it may causes adverse effect on the product life. 2.8-
5 Series / How to Select the Applicable Model Step Confirm moment of inertia of attachments Confirm the moment of inertia for the attachment at one side. Calculate the moment of inertia for A and B separately as shown in the figures on the right. A part B part Procedure Formula Calculation example Check the operating conditions, dimensions of attachment, etc. A part b B part e f c a Operating model: -16D Opening time:.1s a = 4 (mm) b = 7 (mm) c = 8 (mm) d = (mm) e = 1 (mm) f = 12 (mm) d Calculate the moment of inertia of attachment. Determine the allowable moment of inertia from the graph. A part Moment of inertia around Z1 axis Iz1 = {m1(a 2 + b 2 )/12} X 1-6 Moment of inertia around Z axis IA = IZ1 + 2 m1r1 X 1-6 z B part r2 Z2-16D Inertia moment (X 1-4 kgm 2 ) z r1 Moment of inertia around Z2 axis z.1 Calculation of weight m1 = a X b X c X Specific gravity Calculation of weight m2 = d X e X f X Specific gravity Iz2 = {m2(d 2 + e 2 )/12} x 1-6 Moment of inertia around Z axis IB = IZ2 + m2r2 2 x 1-6 Total moment of inertia ( : constant for unit conversion) I = IA + IB Operating time (s/9 ) Material of attachment: Aluminum alloy (Specific gravity = 2.7) r1 = 7 (mm) m1 = 4 X 7 X 8 X 2.7 X 1-6 =.6(kg) Iz1 = {.6 X ( )/12} X 1-6 =.8 X 1-6 (kgm 2 ) =.8 X X 7 2 IA X 1-6 = 9. X 1-6 (kgm 2 ) r 2 = 47(mm) m2 = X 1 X 12 X 2.7 X 1-6 =.2(kg) Iz2 = {.2 X ( )/12} X 1-6 =.2 X 1-6 (kgm 2 ) IB =.2 X X 47 2 X 1-6 = 4.4 X 1-6 (kgm 2 ) I = 9. X X 1-6 = 1.4 X 1-6 =.1 X 1-4 (kgm 2 ) The moment of inertia is determined to be.9 X 1-4 (kgm 2 ) according to the operating time (.1s) from the graph on the left. Confirm the moment of inertia of one attachment is within the allowable range. Moment of inertia of attachment < Allowable moment of intertia.1 X 1-4 (kgm 2 ) <.9 X 1-4 (kgm 2 ) Possible to use this model -16D completely
6 18 Angular Gripper Series / Symbol Symbol Definition Unit Z Z1 Z2 I IZ1 IZ2 Finger rotation axis Axis on the center gravity of A part of attachment and parallel to Z Axis on the center gravity of B part of attachment and parallel to Z Total moment of inertia for attachment Inertia moment around the Z1 axis of A part of attachment Inertia moment around the Z2 axis of B part of attachment kgm 2 kgm 2 kgm 2 Symbol Definition Unit IA IB m1 m2 r1 r2 Moment of inertia around the Z axis of A part of attachment Moment of inertia around the Z axis of B part of attachment Weight of A part of attachment Weight of B part of attachment Distance between Z and Z1 axis Distance between Z and Z2 axis kgm 2 kgm 2 kg kg mm mm Allowable range of inertia moment of attachment -1D Moment of inertia (X1-4 kgm 2 ) D Moment of inertia (X1-4 kgm 2 ) D Moment of inertia (X1-4 kgm 2 ) D Operating time (s/9 ) Operating time (s/9 ) Operating time (s/9 ) -2D Moment of inertia (X1-4 kgm 2 ) D Moment of inertia (X1-4 kgm 2 ) D Moment of inertia (X1-4 kgm 2 ) D Operating time (s/9 ) Operating time (s/9 ) Operating time (s/9 ) -D Moment of inertia (X1-4 kgm 2 ) Operating time (s/9 ) Moment of inertia (X1-4 kgm 2 ) Operating time (s/9 ) Moment of inertia (X1-4 kgm 2 ) Operating time (s/9 ) 2.8-7
7 18 Angular Gripper Cam Style Series ø1, ø16, ø2, ø2 How to Order MHY 2 16 D 2 F9NL S Number of fingers 2 2 fingers Number of auto es 2 S Bore size 1mm 16mm 2mm 2mm Finger option Without auto Refer to the table below for the applicable auto es. Action : Standard tap mounting 2: Opening/closing direction through hole D Double acting Applicable Switches Type Special function Electrical entry Indicator Wiring (Output) Load voltage DC AC Symbol Electrical entry Perpendicular In-line Lead wire length (m). ( ) (L) Applicable load wire (NPN) wire (PNP) V 12V F9NV F9PV F9N F9P Solid state Diagnosis indicator (2 color indication) Grommet With 2 wire wire (NPN) wire (PNP) 24V 12V V 12V F9BV F9NWV F9PWV F9B F9NW F9PW Relay PLC 2 wire 12V F9BWV F9BW Lead wire length:.m (Example) F9N m L (Example) F9NL Note 1) Refer to " Switch Specifications" on p
8 18 Angular Gripper Series Specifications Fluid Air Operating pressure.1 to.6mpa Ambient and fluid temperature 1 to 6 o C Repeatability ±.2mm Max. operating frequency 6c.p.m Lubrication Not required Action Double acting (Optional) Note) Solid state ( wire, 2 wire) Note) Refer to p for details of auto specifications. Symbol Double acting Model Model -1D -16D -2D -2D Bore size (mm) Note 1) At the pressure of.mpa Note 2) Not including auto Effective holding force Opening angle (Both sides) (2) (Nm) (1) Weight Opening Closing side side (g) o o Refer to the "How to Select the Applicable Model" on p Refer to p and 2.8- for the details of effective holding force and allowable overhanging distance
9 Series Construction Closed ø 1 ø 16 ø 2, ø 2 r o!8 e w!7 t! r o!8 e!6 t! r o!8 e!6 t!! u!2 i q!1!4 y!9! u!2 i q!1!4 y!9! u!!2 i q!1!4 y!9 Open Component Parts Component Parts No. q w e r t y u i Description Body Piston Joint Finger Cap Ware ring Shaft Bushing A Material Aluminum alloy ø1: Stainless steel ø16 to 2: Aluminum alloy Stainless steel Stainless steel Resin Resin Stainless steel Sintered alloy steel Note Hard anodized ø16 to 2: Chromated Heat treatment Heat treatment Nitriding No. o!!1!2!!4!!6 Description Bushing B End plate Bumper Cylindrical roller Joint roller Rubber magnet C-shape snap ring Piston bolt Material Sintered alloy steel Stainless steel Urethane rubber High carbon chrome bearing steel Carbon steel Synthetic rubber Carbon steel Stainless steel Note Nitriding Nickel plated Replacement Parts: Seal Kits No. Description Kit No. -1D -16D -2D -2D Seal kit NBR MHY1-PS MHY16-PS -PS -PS 2.8-1
10 18 Angular Gripper Series Dimensions -1D Pin hole positioning M X. (Thread for mounting attachment) M X. Depth M X. Depth 6 4 H9 +.2 Depth ø.4 (Mounting hole) 2- M X., 6 deep (Limited area for mounting attachment ) Positioning pin hole ø11h9 Depth 1. M X.8 (Finger opening port) mounting groove position S O 1 M X.8 (Finger closing port) 2 7 ø4 2-1D2 Opening/closing direction through hole type Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. 12 (Limited area for mounting attachment ) 6 4- ø.4 (Hole for mounting attachment)
11 Series Dimensions -16D Pin hole positioning 12 4-M X. (Thread for mounting attachment) 2-M4 X.7 Depth 4 1 (Limited area for mounting attachment ) _. _ M4 X.7 Depth 8 2-ø4. (Mounting hole) Positioning pin hole H9 Depth 2-M4 X.7 Depth ø17h9 Depth 1. M X.8 (Finger opening port) mounting groove position S 8 O 18 ø4 M X.8 (Finger closing port) D2 Opening/closing direction through hole type 4-ø.4 (Hole for mounting attachment) Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. (Limited area for mounting attachment )
12 18 Angular Gripper Series -2D 2-M X.8 Depth 8 Pin hole positioning H9 Depth 4 2-M4 X.7 (Thread for mounting attachment) 2-M X.8, 1 deep 2-ø. (Mounting hole) 2-M X.8 Depth 1 (Limted area for mounting attachment ) Postioning pin hole ø21h9 Depth 1. M X.8 (Finger operating port) mounting groove position S O 2 M X.8 (Finger closing port) 2 8 ø4-2d2 Opening/closing direction through hole type 4-ø4. (Hole for mounting attachment) Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. (Limted area for mounting attachment ) 2.8-1
13 Series Dimensions -2D 2-M6 X 1 Depth 1 Pin hole positioning H9 Depth 4 (Thread for mounting attachment) M X M6 X 1 Depth ø6.6 (Mounting hole) 2-M6 X 1 Depth 12 (Limted area for mounting attachment ) Postioning pin hole ø26h9 Depth M X.8 (Finger operating port) mounting groove position S O M X.8 (Finger closing port) 42 8 ø4-2d2 Opening/closing direction through hole type 6 4-ø. (Hole for mounting attachment) Do not extend the attachment from limited area for mounting to avoid interference with the attachment or main body. (Limted area for mounting attachment )
14 18 Angular Gripper Series Setting Method of Switch To set the auto, insert the auto into the installation groove of the gripper from the direction indicated in the following drawing. After establishing the installation position, tighten the attached mounting screw with a straight bladed watchmakers screwdriver. Straight bladed watchmakers screwdriver ø to ø6 Projection of Switch from Body Edge The projection of an auto from the edge of the body is shown in the table below. Use the table as a guideline for mounting. Note) 2 color indicator type and perpendicular entry type protrude in the direction of the lead wire entry. L Switch mounting screw M2. X 4l When auto D-F9N is used L Note) Use a watchmakers screwdrivers with a grip diameter of to 6 mm to tighten the auto mounting screw. Use a tightening torque of. to.1nm. As a rough guide, tighten the screw an additional 9 after feeling a tighten resistance. Refer to the p for the details of "Solid State Switch /Connection Method and Connection Example". Switch Hysteresis es have a differential like a micro. Please refer to the following table as a guide when setting auto positions. -1D -16D -2D -2D Hysteresis Switch operating position (ON) closed open closed open closed open closed open Switch return position (OFF) D-F9N(V) D-F9B(V) 4 1 Switch return position (OFF) Red light at ON D-F9NW(V) 4 1 Hysteresis Green light at ON Switch operating position (ON) Red light at ON 4 1 D-F9BA Green light at ON 4 When auto D-F9 V is used When auto D-F9BA is used Max. protrusion of auto from edge of body (L) Unit: mm Protrusion model No. In-line Perpendicular Gripper Model No. D-F9N D-F9B D-F9BA D-F9NW D-F9NV D-F9BV D-F9NWV -1D O S D O S D O S 1 4-2D O S 9 L 2.8-1
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18 Angular Gripper Cam tyle Rack & Pinion tyle eries MHY2/MHW2 Cam actuation style is now standardised! -21 18 Angular Gripper Cam tyle Rack & Pinion tyle eries MHY2/MHW2 eries MHY/Cam tyle Light and compact
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