1 Low Profile Air Gripper MHF2 Series 8, 12, 16, 20. RoHS. MHZ. MHF. MHL. MHR. MHK. MHS. MHC. MHT. MHY. MHW. -X . MRHQ. MA. D- . Low Profile air Gripper with space-saving design 465. Low Profile Air Gripper MHF2 Series Height is approximately 1/3 the size of an equivalent MHZ2 series. MHZ2-20D3 (mm). 42 Bore size Height 8 19. 12 25. 16 33. 20 41. MHF2-12D. 52. 25. 50. The low Profile design saves Low Profile space and reduces bending design moments. Improved accuracy with smooth operation Reduced bending moment and vibration Stroke selection is available. 3 standard stroke lengths are available for each bore size. Stroke can be selected to suit the workpiece. 8 12 16 20. Short 8 12 16 20. mm mm mm mm Medium 16 24 32 40. mm mm mm mm Long 32 48 64 80. mm mm mm mm 466. Improved mounting repeatability With positioning pin holes Auto switches can be mounted on both sides. Piping is available from 2 directions Piping port position can be specified using a part number.
2 Linear guide provides: High precision and high rigidity with Centralized wiring and piping are possible. martensitic stainless steel Axial piping Side piping Easy positioning for MHZ. mounting attachments MHF. With positioning pin holes MHL. MHR. High degree of mounting flexibility Strong gripping force MHK. As no brackets are required, mounting height Double piston construction achieves compact can be minimized. design with strong gripping force. MHS. q MHC. r MHT. MHY. Mounting is possible from 4 directions. MHW. e -X . MRHQ. w Model Bore size Gripping force (N) MA. q w MHF2-8D 8 19 D- . MHZ2-10D 10 11. MHF2-12D 12 48. MHZ2-20D 20 42. w e r MHF2-16D 16 90. MHZ2-25D 25 65. MHF2-20D 20 141. MHZ2-32D 32 158. 467. MHF2 Series Model Selection Model Selection Selection Procedure Step 1 Confirm gripping force Step 2 Confirm gripping point Step 3 Confirm external force on fingers Step 1 Confirmation of Gripping Force Confirmation of conditions Calculation of required gripping force Model selection from gripping force graph MHF2-12D.
3 Example Workpiece mass: kg Model selection criteria with respect to workpiece mass 70. Although differences will exist depending on factors such as Pressure shape and the coefficient of friction between attachments and 60 workpieces, select a model which will provide a gripping force 50 10 to 20 times the weight of the workpiece. Gripping method: External gripping (Note1) Refer to the model selection illustration for more 38 40 information. Gripping force N. Furthermore, in cases with high acceleration or impact, etc., it 30 is necessary to allow an even greater margin of safety. 20 Example 10. When it is desired to set the gripping force at 20 times or more the workpiece weight. Required griping force = kg x 20 x 0 20 30 40 60 80. m/s2 = Approx. N or more Gripping point L mm Length of gripping point: 30 mm Selecting the MHF2-12D. The gripping force is obtained from the intersection point of the gripping point distance L = 30 mm and a pressure of MPa.
4 Gripping force N = 38 N. Operating pressure: MPa A gripping force of 38 N satisfies the required gripping force of N. Therefore, the selection of MHF2-12D. is appropriate. Model Selection Illustration When gripping a workpiece as in the figure to the left and with the following definitions, F: Gripping force (N). : Coefficient of friction between attachments and workpiece m: Workpiece mass (kg). F F g: Gravitational acceleration (= m/s 2). mg: Workpiece weight (N). the conditions under which the workpiece F F will not drop are mg 2 x F mg Gripping force at least 10 to 20 times the workpiece weight The "10 to 20 times or more of the workpiece weight" recommended by Number of fingers SMC is calculated with the safety margin of a = 4, which allows for impacts that occur during normal transportation, etc. and therefore, mg When = When = F . 2x . mg mg With "a" as the safety margin, F is F= x4 F= x4 determined as follows: 2 x 2 x mg = 10 x mg = 20 x mg F= xa 2x.
5 10 x workpiece weight 20 x workpiece weight (Note) Even in cases where the coefficient of friction is greater than = , for safety reasons, SMC recommends selecting a gripping force which is at least 10 to 20 times the workpiece weight. It is necessary to allow a greater safety margin for high accelerations and strong impacts, etc. 468. Low Profile Air Gripper MHF2 Series Step 1 Effective Gripping Force: MHF2 Series Expressing the effective grip- External Gripping Internal Gripping ping force The effective gripping force shown in the graphs below is expressed as F, which is the thrust of one finger when both fingers and attachments are in L. full contact with the workpiece L. as shown in the figure below. F F. Both the external and internal gripping forces are the values shown in the figure below. MHF2-8D MHF2-12D . 70. Pressure 30. Pressure 60. 50. Gripping force N. Gripping force N. 20 40 MHZ. 30 MHF.
6 10 20. MHL. 10 MHR. MHK. 0 10 20 30 40 0 20 40 60 80. Gripping point L mm Gripping point L mm MHS. MHC. MHF2-16D MHF2-20D . 140 MHT. 210. Pressure 120. Pressure MHY. 180. 100. MHW. Gripping force N. Gripping force N. 150. -X . 80. 120. MRHQ. 60. 90 MA. 40 60 D- . 20 30. 0 20 40 60 80 100 0 20 40 60 80 100. Gripping point L mm Gripping point L mm 469. MHF2 Series Model Selection Step 2 Effective Gripping Force: MHF2 Series External Gripping Internal Gripping The air Gripper should be operated so that the amount of overhang "H" will stay within the range given in the graphs below. If the workpiece gripping point goes beyond the range limits, this will have an adverse effect on the life of the air Gripper . L. L. Holding point H. H Holding point MHF2-8D MHF2-12D . 50 80. 40 P. re P ss 60 re ur ss e ur 0. e Overhang Hmm Overhang Hmm 2M 0. 30 P 2M. a P. 0. 0. 40 a 3M. 3M. 0. Pa P. 0. 4M. a 20. 4M. P. Pa a 20.
7 10. 0 10 20 30 40 50 0 20 40 60 80. Gripping point L mm Gripping point L mm MHF2-16D MHF2-20D . 100. 100 P. re P. ss 80 re ur ss e 80. ur 0. e 2M. 0. 0. Overhang Hmm Overhang Hmm P. 2M. 3M. 0. a 60. 3M. P. 0. P. a 60 4M a P. a 0. P. 4M. a Pa 40. 40. 20 20. 0 20 40 60 80 100 0 20 40 60 80 100. Gripping point L mm Gripping point L mm 470. Low Profile Air Gripper MHF2 Series Step 3 Confirmation of External Force on Fingers: MHF2 Series L. L. Mp Mr Fv My L. L: Distance to the point at which the load is applied (mm). MHZ. Maximum allowable moment Model Allowable vertical load Pitch moment Yaw moment Roll moment MHF. Fv (N). Mp (N m) My (N m) Mr (N m). MHF2-8D 58 MHL. MHF2-12D 98 MHR. MHF2-16D 176 MHF2-20D 294 2 2 4 MHK. Note) The load and moment values in the table indicate static values. MHS. Calculation of allowable external force (when moment load is applied). Calculation example MHC. When a load f = 10 N is operating, which applies pitch MHT.
8 Moment to point L = 30 mm from the end of the Allowable =. M (Maximum allowable moment) (N m). MHF2-12D finger. MHY. L x 10-3 Allowable load F =. load F (N) 30 x 10-3. ( Unit converted invariable number) = (N) MHW. Load f = 10 (N) < (N). Therefore, it can be used. -X . MRHQ. MA. D- . 471. Low Profile Air Gripper MHF2 Series 8, 12, 16, 20 RoHS. How to Order MHF 2 12 D M9BW. Made to Order Refer to page 473 for details. Number of fingers Number of auto switches 2 2 finger Nil 2 pcs. S 1 pc. n n pcs. Bore size (mm). 8 8 Auto switch 12 12 Nil Without auto switch (Built-in magnet). 16 16. 20 20 Body option Nil: Axial piping type R: Side piping type Action D Double acting Stroke Nil Short stroke 1 Medium stroke 2 Long stroke Port Port Applicable Auto Switches/Refer to pages 797 to 850 for further information on auto switches. Auto switch model Lead wire length (m) . Indicator Special Electrical Wiring Load voltage Pre-wired light Type Electrical entry direction 1 3 5 connector Applicable load function entry (Output).
9 DC AC Perpendicular In-line (Nil) (M) (L) (Z). 3-wire (NPN) M9NV M9N IC. 5 V, 12 V. 3-wire (PNP) M9PV M9P circuit Solid state auto switch 2-wire 12 V M9BV M9B . Diagnostic 3-wire (NPN) M9 NWV M9NW IC. 5 V, 12 V. indication Grommet Yes 3-wire (PNP) 24 V M9 PWV M9PW circuit Relay, PLC. (2-color indicator) 2-wire 12 V M9 BWV M9BW . 3-wire (NPN) M9 NAV M9NA IC. Water resistant 5 V, 12 V. 3-wire (PNP) M9 PAV M9PA circuit (2-color indicator). 2-wire 12 V M9 BAV M9BA . Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water resistance. Lead wire length symbols: m Nil (Example) M9NW Auto switches marked with are made to order specification. 1 m M (Example) M9 NWM. 3 m L (Example) M9 NWL. 5 m Z (Example) M9 NWZ. Note) When using the 2-color indicator type, please make the setting so that the indicator is lit in red to ensure the detection at the proper position of the air Gripper .
10 472. Low Profile Air Gripper MHF2 Series Specifications Fluid Air 8: to MPa Operating pressure 12 to 20: to MPa Ambient and fluid temperature 10 to 60 C (with no condensation). Repeatability mm Note 1). Maximum Short stroke 120 operating Medium stroke 120 frequency Long stroke 60 Lubrication Not required Action Double acting Auto switch (Option) Note 2) Solid state auto switch (3-wire, 2-wire). Note 1) This is the value when no offset load is applied to the finger. When an offset load is applied to the finger, the maximum value is mm due to the influence of backlash of the rack and pinion. Note 2) Refer to pages 797 to 850 for further information on auto switches. Symbol Double acting: Internal grip Model Note 1). Gripping force Unobstructed Opening capacity Cylinder Note 2). /closing (cm3). Action Model bore Effective gripping stroke Weight (mm) force per (g). finger N (Both sides) Finger Finger Double acting: mm External grip open side close side MHF2-8D 8 65 MHZ.