1900-2 pneumatic grippers - parallel and angular grippers · pneumatic grippers parallel and...
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Pneumatic GrippersParallel and Angular Grippers zee01
Catalog 1900-2/US
Pneum
atic
Grip
pers
FAILURE OR IMPROPER SELECTION OR IMPROPER USE OF THE PRODUCTS AND/OR SYSTEMS DESCRIBED HEREIN OR RELATED ITEMS CAN CAUSE DEATH,PERSONAL INJURY AND PROPERTY DAMAGE.
This document and other information from Parker Hannifin Corporation, its subsidiaries and authorized distributors provide product and/or system options for further investigation byusers having technical expertise. It is important that you analyze all aspects of your application and review the information concerning the product or system in the current productcatalog. Due to the variety of operating conditions and applications for these products or systems, the user, through its own analysis and testing, is solely responsible for making thefinal selection of the products and systems and assuring that all performance, safety and warning requirements of the application are met.
The products described herein, including without limitation, product features, specifications, designs, availability and pricing, are subject to change by Parker Hannifin Corporationand its subsidiaries at any time without notice.
WARNING
The items described in this document are hereby offered for sale by Parker Hannifin Corporation, its subsidiaries or its authorized distributors. This offer and its acceptance are governedby the provisions stated in the "Offer of Sale" found on the last page of this publication.
Copyright 2003, Parker Hannifin Corporation, All Rights Reserved
Offer of Sale
Parker Hannifin CorporationAutomation Actuator DivisionWadsworth, Ohio USA
I Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
IntroducingParker's Expanded Lineof Pneumatic Grippers
Parallel Grippers• Miniature• Automation• Low Profile• Precision• Long Stroke• Heavy Duty• Three-Jaw
Angular Grippers• Miniature (30° and 180°)• Automation (30° and 180°)• High Force (30°)• Precision (30° and 180°)• Locking (12°)
II Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
Pneumatic GrippersIntroduction
Catalog 1900-2/US
GPEL-8
GPEL-12GPDL-8GPDL-12GPDL-14 (S)GPDL-14 (L)GPDL-18 (S)GPDL-18 (L)P5G-HPL-1P5G-HPL-2P5G-HPL-3P5G-HPL-4
P5G-RH1P5G-RH2P5G-RH3P5G-RH4P5G-RH5P5G-HP-50PP5G-HP-100PP5G-HP-25PP5G-HP-35PP5G-HP-40PP5G-HP-43P
GPK-12GPK-16GPK-20GPK-25P5G-HPW-250P5G-HPW-375-1P5G-HPW-375-2P5G-HPW-500-1P5G-HPW-500-2P5G-HPW-625-1P5G-HPW-625-2P5G-HPW-750P5G-HPB-24
P5G-HPB-26
Hig
hF
orc
e/L
on
gS
tro
keL
ow
Pro
file
Pre
cisi
on
0-0.
24
0.25
-0.4
9
0.50
-.07
4
0.75
-0.9
9
1.00
-1.4
9
1.50
-1.9
9
2.00
-3.9
9
4.00
-4.9
9
5.00
+
0-4
5-9
10-2
4
25-4
9
50-9
9
100-
249
250-
499
500-
999
1000
+
GPR-1AGPR-3AGPR-10AGPCR-10CGPCR-16CGPCR-20CGPCR-25CP5G-HPM-1P5G-HPM-2P5G-HPM-3
P5G-HP-5P5G-HP-10P5G-HP-11P5G-HP-11-DP5G-HP-12P5G-HP-12-DP5G-HP-15P5G-HP-15-DP5G-HP-17P5G-HP-17-DP5G-HP-18P5G-HP-18-DP5G-HP-19P5G-HP-19-DGPT10
GPT15P5G-AP3P5G-AP4P5G-AP5P5G-AP6
Model Number
Total Grip Force (lbs)Stroke (in)
Min
iatu
reA
uto
mat
ion
Product Selection Guide
Parallel Grippers
● = standard, O = optional
Ree
d/H
all
Eff
ect
Pro
xim
ity
Pag
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um
ber
456
O O 10O O 11O O 12O O 13
O O 16O O 17O O 18
O 22O 23O 24O 25O 26O 27O 28O 29O 30O 31O 32O 33O 34O 35
40
41O O 46O O 47O O 48O O 49
No
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yncr
on
ou
s
Bal
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Cle
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Sp
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Sp
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Sensors
Met
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Des
ign
58
59626364646565
O O O 70O O O 71O O O 72O O O 73
O 78O 79O 80O 81O 82
O O 86O O 87O O 88O O 89O O 90O O 91
O 96O 97O 98O 99
O O 102O O 103O O 104O O 105O O 106O O 107O O 108O O 109
114
115
III Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
Pneumatic GrippersIntroduction
Catalog 1900-2/US
P5G-HPC-315P5G-HPC-320P5G-HPC-331P5G-HPC-344P5G-HPC-356P5G-HPC-368T
hre
eJa
w
0-4
5-9
10-2
4
25-4
9
50-9
9
100-
249
250-
499
Ree
d/H
all
Eff
ect
Pro
xim
ity
GVC-8 O 132GVC-10 O 133GVC-16 O 134GVC-20 O 135GVC-25 O 136GAA101 140
GAA151 141
P5G-HA-5 O 146P5G-HA-6 O 147P5G-HA-7 O 148P5G-HA-8 O 149P5G-HA-10 O 150P5G-AA3 O 154P5G-AA4 O 155P5G-AA5 O 156P5G-AA6 O 157P5G-RK1 O 162P5G-RK2 O 163P5G-RK3 O 164P5G-RK4 O 165P5G-RK5 O 166
3H2 O O 174
P5G-HA15 12 O 170
P5G-HA25 12 O 171
GVH-12 178GVH-16 179GVH-20 180GVH-25 181GAW101 184
GAW151 185
P5G-AW3 O 190P5G-AW4 O 191P5G-AW5 O 192P5G-AW6 O 193P5G-RB1 O 200P5G-RB2 O 201P5G-RB3 O 202
Pag
eN
um
ber
30D
egre
e
180
Deg
ree
Sp
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lose
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SensorsTotal Grip Force
Met
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Des
ign
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ove
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Sp
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180o
Wid
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oA
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Model Number
12°
Product Selection Guide
Angular Grippers
Three Jaw Grippers
O 120O 121O 122O 123O 124O 125
0-0.
24
0.25
-0.4
9
0.50
-.07
4
0.75
-0.9
9
1.00
-1.4
9
1.50
-1.9
9
2.00
-3.9
9
4.00
-4.9
9
5.00
+
0-4
5-9
10-2
4
25-4
9
50-9
9
100-
249
250-
499
500-
999
1000
+
Model Number
Total Grip Force (lbs)Stroke (in)
Ree
d/H
all
Eff
ect
Pro
xim
ity
Pag
eN
um
ber
No
n-S
yncr
on
ou
s
Bal
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stru
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Cle
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Sp
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Sp
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lose
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Sensors
Met
ric
Des
ign
● = standard, O = optional
IV Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
Pneumatic GrippersIntroduction
Catalog 1900-2/US
Design Guidelines
Force RequirementsWhen determining gripper force requirements, the gripperfingers must be able to control the workpiece under worst-case conditions. The specific workpiece needs to maintaina steady, constant position within the grasp of the fingers,and at the same time, care must be taken to ensure theworkpiece will not deform.
There are two types of grips that determine the forcerequired from a gripper: (1) friction grip and (2) encompass-ing grip.
Friction grip depends on the frictional force of the gripperto maintain the position of the workpiece. Generally, thiscorresponds to tight tolerances and increased positionalaccuracy. Typical coefficient of friction for a friction grip is0.2 to 0.4. This will vary depending on specific applications.A typical friction grip requires as much as four times theforce to perform the same function as an encompassinggrip.
Friction Grip(Parallel Gripper Shown)
Encompassing Grip(Angular Gripper Shown)
L
Encompassing grip uses the fingers to cradle theworkpiece. This provides for more stability and safetybecause the fingers must be forced open to move theworkpiece.
Grip ForcesForces are additive when figuring out the total gripperholding force. The weight of the workpiece governs therequired holding force. Forces can be broken down into:
• Weight – weight of part and tooling• Acceleration – starting and stopping forces
Both forces are additive.
A factor of safety should always be included and can varydepending on specific application. In general, the followingfactor of safety is suggested:
Friction grip 4Encompassing grip 1.25
Example 1 uses gravitational force (G = 32.26 ft/s2) to solvefor gripper holding force.
Example 1:
A workpiece weighing 20 pounds is subject to an accelera-tion of .5G (16.1 ft/s2). The grip force needed is
Weight of Workpiece + Acceleration Force = Grip Force
20 lbf + (20 lbf x .5) = 30 lbf
From the example, solve for grip force.
Friction grip = 4 x 30 lbf = 120 lbf
Encompassing grip = 1.25 x 30 lbf = 37.5 lbf
Use load charts for individual gripper models to determinethe correct gripper size.
TorqueThe forces acting on the center of gravity of the workpieceat a distance (L) from the bottom of the gripper creates amoment arm.
The sum of the force components acting on the center ofgravity can be broken down into:
• Force created by static load• Force created from acceleration
Both forces are additive so that:
Sum of Force Components x Distance (L) = Total Torque
When solving for torque, be aware that forces will changedepending on the orientation of the workpiece. To minimizetorque, the workpiece should be gripped as close to the topof the gripper as possible.
V Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
Pneumatic GrippersIntroduction
Catalog 1900-2/US
System DesignThe two main considerations are (1) throughput and productiv-ity design and (2) reliability design. By overlapping eachcriteria, a design may concentrate on both production andreliability. Also, in multiple steps or functions, both designconcentrations can be utililzed to achieve a desired result.Each function in the system is unique and must be analyzedaccording to a specific design criteria.
Throughput and Productivity Criteria1) Minimize dead space between gripper fingers and
workpiece. This is the clearance between a fully open/closed gripper and the workpiece. Use encompassinggripper fingers and minimal jaw travel.
2) Minimize weight of gripper to decrease acceleration forces.3) Clamp workpiece securely. Use an encompassing grip to
increase machine speeds.4) Avoid time consuming tool changes. Use one gripper for
various workpieces.5) Use one gripper to perform multiple functions.
Reliability Criteria1) Clamp workpiece securely. Minimize the possiblity of a
dropped or misaligned workpiece.2) Use encompassing type grip. Ensure precision and
accuracy.3) Regulate clamping force. Protect against deforming the
workpiece.4) Minimize finger length. The longer the tooling, the more
the finger will deflect and lose grip force.5) Provide sufficient deadspace to ensure clearance between
the part and the fingers. Minimize the chance of thefingers crashing into a misaligned part.
6) Gripper fingers should properly align the workpiece oncritical operations.
7) Surface materials of both gripper and workpiece shouldclamp at low friction to ensure precise and accurateplacement of the workpiece.
8) Do not use parts in an assembled workpiece to maintainproper part alignment in the gripper – any tolerance in theassembled workpiece can affect the alignment.
9) Use a gripper dedicated to one function to performmultiple functions – minimizes the chance of beingmishandled since the workpiece never leaves the gripper.
10) Utilize cushions or shock absorbers to create smoothacceleration or deceleration.
Conversion ChartMetric to English(Multiply ___ by______ to obtain)
Lengthmm 0.0394 in
Areamm2 0.0016 in2
cm2 0.155 in2
Volumemm3 6.10x10-5 in3
cm3 (cc) 0.061 in3
L 0.0353 ft3
Weightg 0.0353 oz.kg 2.204 lb.
Forcekgf 2.204 lbfN 0.224 lbf
TorqueNm 0.737 ft-lb
PressurekPa 0.145 psibar 14.50 psi
EnergyNm 0.737 ft-lb
PowerW 0.737 ft-lb/skW 1.341 hp
Temperature°F = (1.8 x °C) + 32
Flow ratel/min x 0.035 = SCFM
Keymm = millimetercm = centimetercc = cubic centimeterL = literg = gramkg = kilogramkgf = kilogram forceN = NewtonNm = Newton meter
in = inchft = footoz = ouncelb = poundlbf = pound forceft-lb = foot pound
Design Guidelines
Using Catalog DataLoad DataThe graph curves have been determined mathematically.Forces may deviate in practical applications from predeter-mined values. For maximum gripping force, keep fingertooling as short as possible. Maximum load that gripperscan handle will vary depending on part size, texture, shapeof finger tooling, speed, acceleration and air pressure.
Dimensional DataUnless otherwise noted, all dimensions are in inches (mm).All tolerances are as shown below:
Imperial (in) Metric (mm)0.0 = ±0.01 [0] = [± 0.25]0.00 = ±0.005 [0.0] = [± 0.13]0.000 = ±0.0005 [0.00] = [± 0.013]
VI Parker Hannifin CorporationActuator DivisionWadsworth, Ohio USA
Pneumatic GrippersIntroduction
Catalog 1900-2/US
Contact Information:
Name:
Company:
Weight of workpiece:
Workpiece hardness:
Workpiece temperature:
Workpiece shape:
Number of orientations per cycle:
Type of actuator:
Maximum acceleration:
Cycles per minute:
Distance Travel per Step:
Type of Fingers: Friction _____ Encompassing ______
Workpiece positioning tolerance:
Supply air pressure:
Control method:
Electrical supply:
Operating conditions:
Type of position sensor:
Number of sensors:
Flow controls*:
*Flow controls are recommended on all grippers.
Sketch of applications
Please tell us about your application and we will respond promptly with recommendations. Please provide the followingapplication details and fax to (330) 334-3335.
Phone Number:
Fax Number:
E-Mail:
Application Fax