Parallel Type Air Gripper - SMC ETech

1 MHZ SeriesParallel Type Air Gripper 6, 10, 16, 20, 25, 32, 40381 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHZHigh degree of mounting flexibilityCan be mounted five ways from three mountingLateral mountingVertical mountingUsing tapped holes Using end bossUsing tapped holesUsing through-holesFinger positions can be selected.(Standard type/MHZ2) Standard type (MHQG2 compatible width)Narrow type(MHQ2 compatible width)Integral linear guide used for high rigidity Low profileRepeatability: mm Repeatability: mmMartensitic stainless steel Martensitic stainless steelPortSide portedAxial portedwith M5 port(Single acting) Body option/Piping port locationPortEnd boss type (Bore size 10 to 25 mm only)Basic typeSide ported(Double acting/Single acting)Axial portedwith 4 One-touch fittingfor coaxial tubing(Double acting)Axial portedwith 4 One-touch fitting(Single acting)PortPortAxial portedwith 4 hose nipple(Single acting)Axial portedwith M3 port(Single acting)PortPortSide tappedBasic type (tapped in open/close direction)Through-holes in open/close directionFlat typefinger Finger option 6 Compact Series (Without auto switch)MHZJ2-6/MHZAJ2-6 (With dust cover)MHZ2 Series 32, 40 6 Standard Type 10 to 25104420 Page 398 Page 408 PortBore size 6 mm only()Bore size 6 mm only()382 Series Weight (g)Body thickness (mm) thickness tolerance.

2 MmNo guide protrusion in direction of body thicknessImproved remounting accuracyTop mounting centering locationPositioning dowel pin holes providedMounting is more secure with a depth to 2 mm greater than current railconstruction Body thickness tolerance: mm No guide protrusion in direction of body thickness Improved remounting accuracy Top mounting centering locationAccommodates diverse workpiece diameters with a single unit Nearly double the standard stroke Long stroke are also compact and lightweightOpening/Closing stroke (mm)(Open-Closed) 8 (4) 12 (6) 18 (10) 22 (14) and high precisionLong Stroke MHZL2 Series With Dust Cover MHZJ2 Series 10 to 25 10 to 25 6 Cover materials Prevents entry of chips, dust, water, etc. Prevents dispersion of grease and external leakage of dust. Dust cover adhesion (Powerful adhesive used): -X77 Dust cover caulking (Silicone caulking agent used): -X78 Chloroprene rubber (Black) Fluororubber (Black) Silicone rubber (White) 32, 40 10 to 20 With dust coverMade to OrderMade to OrderMade to OrderPage 426 Page 440 Values inside ( ) are for standard MHZ2 436 Page 451383 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHZBody optionFinger optionBasic typeEnd boss typeSide portedSide portedWith One-touchfitting forcoaxial tubingWith One-touchfittingWithM3 portWithM5 portWithhose nippleBasic type(tapped inopen/closedirection)Side tappedThrough-holesin open/closedirectionFlat typefingerSeriesBoresize(mm)ActionMade to Order common specificationsPageStandardMHZA2-66 Double actingVVVVVV Availability varies depending on the details, refer to "Made to Order" on pages 725 to Heat resistance ( 10 to 100 C)

3 -X5 Fluororubber seal-X7 Closing direction spring assist-X12 Opening direction spring assist-X46 Built-in needle valve for finger speed control-X50 Without magnet-X51 MHQ2/MHQG2 compatible flat type fingers-X53 Ethylene propylene rubber seal (EPDM)-X56 Axial ported-X63 Fluorine grease-X64 Finger: Side tapped-X65 Finger: Through-holes in opening/closing directions-X77A Dust cover adhesion-X77B Dust cover adhesion/Finger part only-X78A Dust cover caulking-X78B Dust cover caulking/Finger part only-X79 Grease for food processing machines/Fluorine grease-X79A Grease for food processing machines/Aluminum complex soap base grease-X81A Special black chromium treatment is made on only the Special black chromium treatment is made on the finger and 398 Single acting (Normally open)VVVVVVVVVS ingle acting (Normally closed)VVVVVVVVVWith dust coverMHZAJ2-66 Double actingVVVS ingle acting (Normally open)VVVVVVS ingle acting (Normally closed)VVVVVVS tandardMHZ26 Double actingVVVVVPage 408 Single acting (Normally open)VVVVVS ingle acting (Normally closed)VVVVV10, 1620, 25 Double actingVVVVVVVS ingle acting (Normally open)VVVVVVVVS ingle acting (Normally closed)VVVVVVVV32, 40 Double actingVVVVVS ingle acting (Normally open)VVVVVS ingle acting (Normally closed)

4 VVVVVLong strokeMHZL210, 1620, 25 Double actingVVVVVVVPage 426 Single acting (Normally open)VVVVVVVVS ingle acting (Normally closed)VVVVVVVVLong strokeWith dust coverMHZL210, 16 20 Double actingVVPage 436 With dust coverMHZJ26 Double actingVVPage 440 Single acting (Normally open)VVSingle acting (Normally closed)VV10, 1620, 25 Double actingVVVVS ingle acting (Normally open)VVVVVS ingle acting (Normally closed)VVVVV32, 40 Double actingVVPage 451 Parallel Type Air Gripper MHZ2 SeriesSeries VariationsPage 398 Page 398 Page 408 Page 426 Page 440 Page 451 Page 436384 Body optionFinger optionBasic typeEnd boss typeSide portedSide portedWith One-touchfitting forcoaxial tubingWith One-touchfittingWithM3 portWithM5 portWithhose nippleBasic type(tapped inopen/closedirection)Side tappedThrough-holesin open/closedirectionFlat typefingerSeriesBoresize(mm)ActionMade to Order common specificationsPageStandardMHZA2-66 Double actingVVVVVV Availability varies depending on the details, refer to "Made to Order" on pages 725 to Heat resistance ( 10 to 100 C)-X5 Fluororubber seal-X7 Closing direction spring assist-X12 Opening direction spring assist-X46 Built-in needle valve for finger speed control-X50 Without magnet-X51 MHQ2/MHQG2 compatible flat type fingers-X53 Ethylene propylene rubber seal (EPDM)-X56 Axial ported-X63 Fluorine grease-X64 Finger: Side tapped-X65 Finger.

5 Through-holes in opening/closing directions-X77A Dust cover adhesion-X77B Dust cover adhesion/Finger part only-X78A Dust cover caulking-X78B Dust cover caulking/Finger part only-X79 Grease for food processing machines/Fluorine grease-X79A Grease for food processing machines/Aluminum complex soap base grease-X81A Special black chromium treatment is made on only the Special black chromium treatment is made on the finger and 398 Single acting (Normally open)VVVVVVVVVS ingle acting (Normally closed)VVVVVVVVVWith dust coverMHZAJ2-66 Double actingVVVS ingle acting (Normally open)VVVVVVS ingle acting (Normally closed)VVVVVVS tandardMHZ26 Double actingVVVVVPage 408 Single acting (Normally open)VVVVVS ingle acting (Normally closed)VVVVV10, 1620, 25 Double actingVVVVVVVS ingle acting (Normally open)VVVVVVVVS ingle acting (Normally closed)VVVVVVVV32, 40 Double actingVVVVVS ingle acting (Normally open)VVVVVS ingle acting (Normally closed)VVVVVLong strokeMHZL210, 1620, 25 Double actingVVVVVVVPage 426 Single acting (Normally open)VVVVVVVVS ingle acting (Normally closed)VVVVVVVVLong strokeWith dust coverMHZL210, 16 20 Double actingVVPage 436 With dust coverMHZJ26 Double actingVVPage 440 Single acting (Normally open)VVSingle acting (Normally closed)VV10, 1620, 25 Double actingVVVVS ingle acting (Normally open)VVVVVS ingle acting (Normally closed)VVVVV32, 40 Double actingVVPage 451385 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHZM odel SelectionCalculation of required gripping forceSelection Procedure1020304010020304050 MPa10 x Workpiece weight20 x Workpiece weightmg FFF FConfirm gripping forceConfirm external force on fingersConfirm gripping pointStep 1 Step 2 Step 3 Confirmation of conditionsSelection of model from gripping force graphExampleWorkpiece mass: kgGripping point distance: L = 30 mmOperating pressure: MPaGripping method.

6 External grippingGuidelines for the selection of the Gripper with respect to workpiece mass Example) When it is desired to set the gripping force at 20 times or more above the workpiece gripping force = kg x 20 x m/s2 N or moreAlthough conditions differ according to the workpiece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping force of 10 to 20 times the workpiece weight, or ) For further details, refer to the model selection high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be 2-16 External Gripping ForceGripping force (N)Gripping point L (mm)Pressure MPa Selecting MHZ 2-16D. A gripping force of 24 N is obtained from the intersection point of gripping point distance L = 30 mm and pressure of MPa. The gripping force is times greater than the workpiece mass, and therefore satisfies a gripping force setting value of 20 times or of Gripping ForceStep 1 Model Selection Illustration Gripping force at least 10 to 20 times the workpiece weight The 10 to 20 times or more of the workpiece weight recommended by SMC is calculated with a safety margin of a = 4, which allows for impacts that occur during normal transportation, = = = x 42 x 10 x mgmgF = x 42 x 20 x mgNote) Even in cases where the coefficient of friction is greater than = , for reasons of safety, select a gripping force which is at least 10 to 20 times greater than the workpiece weight, as recommended by SMC.

7 If high acceleration, deceleration or impact forces are encountered during motion, a further margin of safety should be gripping a workpiece as in the figure to the left, and with the following definitions,F: Gripping force (N) : Coefficient of friction between the attachments and the workpiecem: Workpiece mass (kg)g: Gravitational acceleration (= m/s2) mg: Workpiece weight (N)the conditions under which the workpiece will not drop are2 x F > mgand therefore, With a representing the extra margin, F is determined by the following formula:Number of fingersmgF = x a2 x mgF > 2 x MHZ SeriesModel Selection386 MHZ2-10D/MHZL2-10 DMHZ2-16D/MHZL2-16 DMHZ2-32 DMHZ2-20D/MHZL2-20 DMHZ2-40 DMHZA2, MHZ2, MHZL2 External Gripping ForceFFLP ressure MPaPressure MPa2015100510 20 30 40 50 Pressure MPaPressure MPa50403020100 10 20 30 40 50 60 Pressure MPa6050403020100 20 40 60 80 MHZ2-25D/MHZL2-25 DPressure MPaPressure MPa608010040200 20 40 60 80 10025020010015050050 100 150250300350400200100150500 50 100 150 200642010 20 30 MHZ2-6D/MHZA2-6 DExternal GripEffective Gripping Force.

8 MHZ 2 Series/Double Acting/External Gripping ForceStep 1 Indication of effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm) Parallel Type Air Gripper MHZ SeriesExternal Gripping Force387 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHZMHZ2-32 DMHZ2-40 DInternal Gripping ForceInternal Gripping ForceMHZA2, MHZ2, MHZL2 FFLMHZ2-10D/MHZL2-10 DMHZ2-16D/MHZL2-16 DMHZ2-20D/MHZL2-20 DMHZ2-25 MPaPressure MPaPressure MPa2520151005102030405060 Pressure MPaPressure MPa607050403020100102030405060 Pressure MPa10080604020020406080100 Pressure MPaPressure MPa1001201401608060402002040608010010015 0200250300500204060801001002003004005000 2040608010012014121002468102030 MHZ2-6D/MHZA2-6 DInternal GripModel SelectionEffective Gripping Force.

9 MHZ 2 Series/Double Acting/Internal Gripping ForceStep 1 Indication of effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger, when both fingers and attach-ments are in full contact with the workpiece as shown in the figure force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)MHZ Series388 MHZ2-10S/MHZL2-10 SMHZ2-16S/MHZL2-16 SMHZ2-32 SMHZ2-20S/MHZL-20 SMHZ2-40 SExternal Gripping ForceExternal Gripping ForceFFLP ressure MPa12108024610 20 30 40 50 60 Pressure MPa401020300 10 20 30 40 50 604060501020300 20 40 60 80 100 MHZ2-25S/MHZL2-25 SMHZ2-6S/MHZA2-6 SPressure MPaPressure MPa608020400 20 40 60 80 100 Pressure MPa15020025050100050 100 150 Pressure MPa150200250300350501000 50 100 150 2003412010 20 30 MHZA2, MHZ2, MHZL2 External GripPressure MPaEffective Gripping Force.

10 MHZ 2 Series/Single Acting/External Gripping ForceStep 1 Indication of effective gripping forceThe effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger, when both fingers and attachments are in full contact with the workpiece as shown in the figure force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm) Parallel Type Air Gripper MHZ Series389 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHZMHZ2-10C/MHZL2-10 CMHZ2-16C/MHZL2-16 CMHZ2-32 CMHZ2-20C/MHZL2-20 CMHZ2-40 CInternal Gripping ForceInternal Gripping ForceLMHZ2-25C/MHZL2-25 CMHZ2-6C/MHZA2-6 CPressure MPa20151005102030405086402102030 Pressure MPa6050403020100102030405060 Pressure MPa10080604020020406080100 Pressure MPaPressure MPa14012010080604020020406080100 120 Pressure MPa25020010015050020406080100 Pressure MPa500400200100300020406080100120 MHZA2, MHZ2, MHZL2 Internal GripModel SelectionFFE