Rotary Actuated Air Gripper - content2.smcetech.com

1 High Precision - Repeatability mmParallel opening and closing mechanism utilizing a cross roller guide produces smooth operation without play, with high precision and long ProfileUsing Rotary actuators in the part of actuating portionenables a design Ball bearingRotary actuatorBall bearingCross roller guideGuide holderUniversal mountingAxial side mountingVertical side mountingLateral side mountingPossible to mount solid state switch withindicator light D-M9. Easy to locateswitch to optimum set , MDHR2/MHR3, MDHR3 Rotary Actuated Air Gripper2-finger type: Size 10, 15, 20, 30/ 3-finger type: Size 10, 15515 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHR10 15 20 30 MHR2 MDHR2 MHR3 MDHR3P. 517P.

2 529P. 530P. 5372-fingertype3-fingertype2-fingertype3 -fingertypeMHR211-22-11-22-MDHR211-22-11 -22-MHR3 MDHR3 Refer to the Pneumatic Clean Series ( ) capabilityConnection port on 2 sidesPor tPor tSeries VariationsRotary actuatedair gripperClean SeriesRotary actuatedair Gripper (Nominal size)AutoswitchtotoFingers operate smoothly as theholder maintains the guidefrom the outside and preventsfinger rigidityRefer to Pneumatic Clean Series ( ) catalog for for Clean 2 10 R M9N SMHR 2 10 RWithout auto switch2 NilSNumber of fingers2 fingersNumber of auto switches2 to Order10152030 Auto switch modelElectrical entry directionLoad voltageDCAC5(Z) 24V5V,12V12V5V,12V12V5V,12V12V 3(L)

3 1(M)M9NM9PM9BM9 NWM9 PWM9 BWM9NA M9PA M9BA M9 NVM9 PVM9 BVM9 NWVM9 PWVM9 BWVM9 NAV M9 PAV M9 BAV With auto switch (Built-in magnet)Made to Order Refer to page 518 for magnet(For auto switch) Nominal sizeConnecting portR: Body sideE: Axial sidePor tPor tApplicable Auto Switches/Refer to pages 797 to 850 for further information on auto entryIndicatorlightWiring(Output)Solid state auto switchGrommetYe s3-wire (NPN)3-wire (PNP)2-wire3-wire (NPN)3-wire (PNP)2-wire3-wire (NPN)3-wire (PNP)2-wireLead wire length (m) (Nil)Applicable loadPre-wiredconnectorICcircuitICcircuit ICcircuitRelay,PLC Solid state auto switches marked with a symbol are produced upon receipt of order. Lead wire length symbols: m Nil (Example) M9N 1 m M (Example) M9NM 3 m L (Example) M9NL 5 m Z (Example) M9NZ Water resistant type auto switches can be mounted on the above models, but in such case SMC cannot guarantee water Actuated Air Gripper /2-Finger TypeMHR2/MDHR2 SeriesSize.

4 10, 15, 20, 30 Diagnosis(2-colorindication)Water resistant(2-colorindicator)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 MRHQMAD- MHRS ymbol15242514228180 (175) to MPa 180 (380)305859193718760 (740)Model/SpecificationsWhen the finger opening/closing speed is set as the total stroke of seconds or more, it may cause the product to stick or completely stop its greaseSymbolSpecifications/DescriptionM5 X X (95) to MPaAirNon-lube (3)Double actingActionGripping force (N) (1)(Effective value)at MPaOpening/Closing stroke(Both sides) Weight (g) (2)Connection portRepeatabilityFluidOperating pressureAmbient and fluid temperatureMax.

5 Operating frequencyLubricationNominal sizeExternal gripInternal gripFinger closing width (mm) Finger opening width (mm) Stroke (mm)Note 1) Refer to page 520 Effective Gripping Force for details of Gripping force at each gripping point. Value of effective gripping force is measured at the middle of opening/closing 2) ( ) Value shows MDHR weight, but it does not include auto switch 3) This product should be used without lubrication. If it is lubricated, it could lead to sticking or slipping. Made to Order (Refer to pages 725 to 748 for details.)MHR2/MDHR2 SeriesWithout auto switch/Double actingWith auto switch/Double actingInternal gripExternal gripInternal gripExternal grip-X32 Grease change for Rotary Actuated partSymbolSpecifications/DescriptionMade to Order: Individual Specifications(For details, refer to page 544.

6 518 Limitation of Gripping: External Grip/Internal GripMHR2-10/MDHR2-10 MHR2-30/MDHR2-30 MHR2-20/MDHR2-20 MHR2-15/MDHR2-15 External grip5040302010010 20 30 40 505040302010010 20 30 40 5060605040302010010 20 30 40 506080708060 705040302010010 20 30 40 MPaHLHLG ripping Point Workpiece gripping point should be within the gripping point range: The range shown for each operating pressure given in the graphs to the right. When the gripping point distance becomes large, the finger attachment applies an excessively large load to the finger sliding section, causing excessive play of the fingers and possibly leading to premature gripL: Distance to the gripping pointH.

7 Overhang distanceGripping pointGripping pointOverhang distance H (mm)Overhang distance H (mm)Overhang distance H (mm)Overhang distance H (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)Gripping point L (mm)PressurePressurePressurePressureMHR2 /MDHR2 SeriesRotary Actuated Air Gripper2-Finger Type519 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHRMHR2-10/MDHR2-10 MHR2-10/MDHR2-10 External GripMHR2-15/MDHR2-15 External gripInternal gripInternal GripMHR2-15/MDHR2-15 MHR2-20/MDHR2-20 MHR2-20/MDHR2-20 MHR2-30/MDHR2-30 MHR2-30/MDHR2-30L L MPa3010010 20 30 40 MPa3010010 20 30 40 MPa3010010 20 30 40 MPa405060 703010010 20 30 40 MPa405060 703010010 30 50 70 MPa40506070803010010 30 MPa40507060708090 PressurePressurePressureEffective Gripping ForceGuidelines

8 For the selection of the Gripper with respect to workpiece mass Although 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 mass, or more. If high acceleration, deceleration or impact forces are encountered during motion a further margin of safety should be : Gripping point length (mm) 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 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)Gripping point L (mm)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)Gripping force (N)MHR2/MDHR2 Component Partsq!

9 2wie!5u!4o!9!8ir!0t!3@ PartsBodyAdaptor bodyGuide holderCamFinger assemblyGuidePinPin rollerVane shaftJoint boltMaterialAluminum alloyAluminum alloyStainless steelCold rolled steelStainless steelStainless steelCarbon steelStainless steelStainless steel, NBRC hrome molybdenum steelNoteHard anodizedHard anodizedNitridingHeat treatedHeat treatedHeat treatedElectroless nickel platedNitridingM HR2-30 is carbon steel NBRZinc chromatedStopperBack-up ringHexagon socket head boltBearingCylindrical rollerMagnetMagnet holderRollerO-ringStopper sealMaterialResinStainless steel plateStainless steelHigh carbon chrome bearing steel Stainless steelAluminum alloyStainless steelNBRNBRHard anodizedMHR2/MDHR2 SeriesRotary Actuated Air Gripper2-Finger Type521 MHZMHFMHLMHRMHKMHSMHCMHTMHYMHW-X MRHQMAD- MHRW ithout auto switch.

10 (Mounting thread) x opening portM3 x closing port25 32 36M3 x x (35)22321155 2912124 44 4 MHR2-10E Port LocationNominal Size 103 x M3 x thread depth 6 Finger closing portFinger opening port 3 0 3 0 : 16 Closed: 102 x M3 x thread depth 6(Thread for mounting attachment)25 120 120 MHR2/MDHR2 Series6 x M3 x thread depth 6(A, B, C common view)(A, B, C common view)3 x 3 depth 6+ 08 0 9h9 0 36M3 x x x 32 x (35) 2912124 44 4 MDHR2-10E Port LocationDimensional Differences between MHR and MDHRM odelMHR2 MDHR2-10R-10E-10R-10EA5 auto switch (Built-in magnet): (Mounting thread)3 x M3 x thread depth 6M3 x x closing portFinger closing port6 x M3 x thread depth 6(A, B, C common view)(A, B, C common view)3 x 3 depth 6+ 08 0 switch mounting groove 3 0 3 0 : 16 Closed: 10 9h9 0 x M3 x thread depth 6(Thread for mounting attachment)25 25 120 120 MHR2/MDHR2 SeriesRotary Actuated Air Gripper2-Finger TypeFinger opening portFinger opening portThe following dimensions are different between MHR and MDHR series.