180 Angular Gripper. Series MHY2/MHW2. Cam actuation style is now standardised! 5-241

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1 18 Angular Gripper Cam tyle Rack & Pinion tyle eries MHY2/MHW2 Cam actuation style is now standardised! -21

2 18 Angular Gripper Cam tyle Rack & Pinion tyle eries MHY2/MHW2 eries MHY/Cam tyle Light and compact size in small bore sizes Model Bore size mm Effective holding moment Nm verall length Lmm L Weight g MHY2-1D MHY2-2D MHY2-2D At pressure of.mpa Improved mounting repeatability Auto switch mounting at locations Resistance to dusty environments Reduced opening sizes helps prevent foreign substance from entering. tainless steel fingers are standard. Assembly Variation Bore size (mm) Clamping of work Cam style eries MHY -22 Rack & Pinion style eries MHW

3 18 Angular Gripper eries MHY2/MHW2 eries MHW/Rack & Pinion tyle Unique seal design allows shorter total length construction and constant holding force when opening and closing fingers. (PAT.PEND) Model Bore size mm Holding mement Nm ver length Lmm L Weight g MHW2-2D 2 MHW2-2D 2 MHW2-2D 2 MHW2-D MHW2-D At the pressure of.mpa Auto switch mounting at locations Two finger styles available. Flat finger type Right angle finger type Key connection is ideal for impact resistance. Key connection between finger and shaft prevents finger angle slippage during impact. Dust proof construction eal arrangement protects gripper from harsh dusty environments. Bearings are standard. Transferring work Clamping work INDEX Applicable auto switch Page olid state switch D- M9/M9 W type Water resistant 2 color indication D-M9BA Type P.-28 olid state switch D-Y/Y type D-Y7 type Water resistant 2 color indication D-Y7BA type P.-2-2

4 eries MHY2/MHW2 How to elect the Applicable Model How to elect Procedure tep 1 Confirm holding force Confirm tep 2 tep holding force Confirm moment of inertia of attachments tep 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 Pressure.MPa 2 7 Holding point L = mm perating pressure:.mpa When is selected, the holding force is determined to be 1N according to the holding point distance (L = mm) and the pressure (.MPa). The holding force is 2 times the work weight meeting the guideline that holding force should be more than 2 times the set holding force value. Effective holding force eries MHY2/MHW2 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) MHY2-1D Pressure.MPa MHY2-2D 2 1 Pressure.MPa F F F External hold F Pressure.MPa MHY2-2D Pressure.MPa L L

5 18 Angular Gripper eries MHY2/MHW2 MHW2-2D 2 Pressure.7MPa MHW2-2D 1 Pressure.7MPa MHW2-D Pressure.7MPa MHW2-2D Pressure.7MPa MHW2-D Pressure.7MPa tep 2 Confirmation of holding point MHY MHW 2 H Holding point H verhang H (mm) 2 1 MHY2-1D MHY2-2D MHY2-2D verhang H (mm) 1 1 MHW2-2D MHW2-2D MHW2-2D MHW2-D MHW2-D Holding point Pressure P (MPa) 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

6 eries MHY2/MHW2 How to elect the Applicable Model tep 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 part e f d b c a perating model: pening time:.1s a = (mm) b = 7 (mm) c = 8 (mm) d = (mm) e = 1 (mm) f = 12 (mm) 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 - Moment of inertia around Z axis IA = IZ1 + 2 m1r1 X 1 - z B part r2 Z2 Inertia moment (X 1 - kgm 2 ) z r1 Moment of inertia around Z2 axis z.1 Calculation of weight m1 = a X b X c X pecific gravity Calculation of weight m2 = d X e X f X pecific gravity Iz2 = {m2(d 2 + e 2 )/12} x 1 - Moment of inertia around Z axis IB = IZ2 + 2 m2r2 x 1 - Total moment of inertia ( : constant for unit conversion) I = IA + IB.2... perating time (s/9 ) Material of attachment: Aluminum alloy (pecific gravity = 2.7) r1 = 7 (mm) m1 = X 7 X 8 X 2.7 X 1 - =.(kg) Iz1 = {. X ( )/12} X 1 - =.8 X 1 - (kgm 2 ) IA =.8 X X 7 2 X 1 - = 9. X 1 - (kgm 2 ) r 2 = 7(mm) m2 = X 1 X 12 X 2.7 X 1 - =.2(kg) Iz2 = {.2 X ( )/12} X 1 - =.2 X 1 - (kgm 2 ) IB =.2 X X 7 2 X 1 - =. X 1 - (kgm 2 ) I = 9. X X 1 - = 1. X 1 - =.1 X 1 - (kgm 2 ) The moment of inertia is determined to be.9 X 1 - (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 - (kgm 2 ) <.9 X 1 - (kgm 2 ) Possible to use this model completely. -2

7 18 Angular Gripper eries MHY2/MHW2 ymbol ymbol Definition Unit Z Z1 Z2 I IZ1 IZ2 Finger rotation axis Axis on the centre gravity of A part of attachment and parallel to Z Axis on the centre 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 ymbol 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 MHY2-1D Moment of inertia (X1 - kgm 2 ) Moment of inertia (X1 - kgm 2 ) MHY2-2D Moment of inertia (X1 - kgm 2 ) 2 1 MHY2-2D perating time (s/9 ) perating time (s/9 ) perating time (s/9 ) MHW2-2D Moment of inertia (X1 - kgm 2 ) 2 1 MHW2-2D Moment of inertia (X1 - kgm 2 ) MHW2-2D Moment of inertia (X1 - kgm 2 ) 2 1 MHW2-D perating time (s/9 ).2... perating time (s/9 ) perating time (s/9 ) MHW2-D Moment of inertia (X1 - kgm 2 ) perating time (s/9 ) Moment of inertia (X1 - kgm 2 ) perating time (s/9 ) Moment of inertia (X1 - kgm 2 ) perating time (s/9 ) -27

8 18 Angular Gripper Cam tyle eries MHY2 ø1, ø1, ø2, ø2 How to rder MHY 2 1 D 2 M9NL Number of fingers 2 2 fingers Number of auto switches Bore size 1mm 1mm 2mm 2mm Finger option Auto switch Without auto switch Refer to the table below for the applicable auto switches. Action : tandard tap mounting 2: pening/closing direction through hole D Double acting Applicable Auto witches Type pecial function Electrical entry Indicator Wiring (utput) Load voltage DC AC ymbol Electrical entry Perpendicular In-line Lead wire length (m). ( ) (L) Applicable load wire (NPN) wire (PNP) V 12V M9NV M9PV M9N M9P olid state Diagnosis indicator (2 colour indication) Grommet With 2 wire wire (NPN) wire (PNP) 2V 12V V 12V M9BV M9NWV M9PWV M9B M9NW M9PW Relay PLC 2 wire 12V M9BWV M9BW Lead wire length:.m (Example) M9N m L (Example) M9NL Note 1) Refer to "Auto witch pecifications" on p.-1-28

9 18 Angular Gripper eries MHY2 pecifications Fluid Air perating pressure.1 to.mpa Ambient and fluid temperature 1 to o C Repeatability ±.2mm Max. operating frequency c.p.m Lubrication Not required Action Double acting Auto switch (ptional) Note) olid state switch ( wire, 2 wire) Note) Refer to p. -1 for details of auto switch specifications. ymbol Double acting Model Model MHY2-1D MHY2-2D MHY2-2D Bore size (mm) Note 1) At the pressure of.mpa Note 2) Not including auto switch Effective holding force pening angle (Both sides) (2) (Nm) (1) Weight pening Closing side side (g) o o Refer to the "How to elect the Applicable Model" on p.-2 Refer to p.-2 and -2 for the details of effective holding force and allowable overhanging distance. -29

10 eries MHY2 Construction Closed ø 1 ø 1 ø 2, ø 2 r o!8 e w!7 t! r o!8 e! t! r o!8 e! t!! u!2 i q!1! y!9! u!2 i q!1! y!9! u!!2 i q!1! y!9 pen Component Parts Component Parts No. q w e r t y u i Description Body Piston Joint Finger Cap Ware ring haft Bushing A Material Aluminum alloy ø1: tainless steel ø1 to 2: Aluminum alloy tainless steel tainless steel Resin Resin tainless steel intered alloy steel Note Hard anodized ø1 to 2: Chromated Heat treatment Heat treatment Nitriding No. o!!1!2!!!! Description Bushing B End plate Bumper Cylindrical roller Joint roller Rubber magnet C-shape snap ring Piston bolt Material intered alloy steel tainless steel Urethane rubber High carbon chrome bearing steel Carbon steel ynthetic rubber Carbon steel tainless steel Note Nitriding Nickel plated Replacement Parts: eal Kits No. Description Kit No. MHY2-1D MHY2-2D MHY2-2D eal kit NBR MHY1-P MHY1-P MHY2-P MHY2-P -2

11 18 Angular Gripper eries MHY2 Dimensions MHY2-1D M (Finger opening port) 2 7 X M Depth X M (Thread for mounting attachment)..2 2 X M, deep 2 - ø. (Mounting hole) 12 Positioning pin hole ø11h9 Depth (Limited area for mounting attachment ) Auto switch mounting groove position M (Finger closing port) +. Pin hole positioning H9 +.2 Depth 2 X M Depth ø 2 MHY2-1D2 pening/closing direction through hole type - ø. (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 ) -21

12 eries MHY2 Dimensions M (Finger opening port) X M (Thread for mounting attachment) 8 _. _.2 Positioning pin hole X M Depth M (Finger closing port) ø17h9 Depth X M Depth 8 2-ø. (Mounting hole) (Limited area for mounting attachment ) 1 7 Auto switch mounting groove position Pin hole positioning H9 Depth 2 X M Depth ø 2. 2 pening/closing direction through hole type -ø. (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 ) -22

13 18 Angular Gripper eries MHY2 MHY2-2D M (Finger operating port) Pin hole positioning H9 Depth 2 X M, 1 deep 2-ø. (Mounting hole) 9 2 X M Depth 8 Auto switch mounting groove position MHY2-2D2 pening/closing direction through hole type M (Finger closing port) X M (Thread for mounting attachment) 2 X M Depth 1 Postioning pin hole +.2 ø21h9 Depth 1. (Limted area for mounting attachment ) 2 ø -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 ) -2

14 eries MHY2 Dimensions MHY2-2D M (Finger operating port) Pin hole positioning 2 1 (Thread for mounting attachment) Auto switch mounting groove position 2 MHY2-2D2 pening/closing direction through hole type -ø. (Hole for mounting attachment) M (Finger closing port) 2 8 X M Depth 12 X M +. H9 Depth 2 X M Depth 12 2-ø. (Mounting hole) Postioning pin hole +.2 ø2h9 Depth 1. (Limted area for mounting attachment ) 2 X M Depth 1 1 ø 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

15 18 Angular Gripper eries MHY2 etting Method of Auto witch To set the auto switch, insert the auto switch into the installation groove of the gripper from the direction indicated in the following drawing. After establishing the installation position, tighten the attached switch mounting screw with a straight bladed watchmakers screwdriver. traight bladed watchmakers screwdriver ø to ø Projection of Auto witch from Body Edge The projection of an auto switch 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 witch mounting screw M2. X l When auto switch D-M9N is used Auto switch L Note) Use a watchmakers screwdrivers with a grip diameter of to mm to tighten the auto switch mounting screw. Use a tightening torque of. to.1nm. As a rough guide, tighten the screw an additional 9 after feeling a tighten resistance. When auto switch D-M9 V is used L Auto witch Hysteresis Auto switches have a differential like a micro switch. Please refer to the following table as a guide when setting auto switch positions. Hysteresis witch operating position (N) witch return position (FF) witch return position (FF) Hysteresis witch operating position (N) Max. protrusion of auto switch from edge of body (L) Unit: mm Auto switch Protrusion model No. In-line Perpendicular Gripper Model No. MHY2-1D MHY2-2D MHY2-2D When auto switch D-M9BA is used D-M9N D-M9BD-M9BA D-M9NW D-M9NV D-M9BVD-M9NWV MHY2-1D MHY2-1D MHY2-2D MHY2-2D closed open closed open closed open closed open D-M9N(V) D-M9B(V) 1 Red light at N D-M9NW(V) 1 Green light at N 7 Red light at N 1 D-M9BA Green light at N -2

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