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SERIES GRR GRIPPERGRR
GRR03
GRR
TRAVEL LIMITING STOPSTRAVEL
ADJUSTMENT COLLARS
PROXIMITY SWITCHESJAW POSITION
SENSOR OPTION
RODLOK® OPTION
TRAVEL LIMITING STOPSTRAVEL
ADJUSTMENT COLLARS
PROXIMITY SWITCHES
RODLOK® OPTION
JAW POSITIONSENSOR OPTION
The New Standard in High Force,Long Travel, Robust Capacity Gripping.
PATENT PENDING
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ORDERING DATA: SERIES GRR GRIPPERS
TO ORDER SPECIFY:Product Line, Series, Type, Synchronization, Jaw, Design No.,Size, Total Jaw Travel, and Options required.
NOTES:1) Design number indicates imperial or
metric mounting holes and ports.Dowel pin holes are metric regardlessof design number.
2) *Standard unit is Rodlok® ready.3) **Standard unit is SPP99 ready. Only
available on GRR1. See SPP99 optiondata for temperature and fluidcompatibility.
2 -63 x1RRG
PRODUCT LINEG - Gripper
SERIESRegular Duty
TYPELong Travel,
High Capacity,Parallel Gripper
SYNCHRONIZATION0- Non-synchronized1- Synchronized2- Non-synchronized
independently powered jaws
JAWStyle 2
- 6
DESIGN NO.(See Note 1)2 - Imperial6 - Metric
-
BORE SIZE MINIMUM TOTAL JAW TRAVEL150 = 150 mm (5.906 in)200 = 200 mm (7.874 in)250 = 250 mm (9.843 in)350 = 350 mm (13.780 in)
OPTIONS(OMIT IF NOT REQUIRED)
PORT OPTIONSL9 - NPT Ports (metric units only)
UNIT OPTIONSH47* - Rodlok® (See Note 2)V1 - Fluoro-Elastomer Seals except
for Rodlok® mechanismZ1 - Corrosion resistant coating on
exposed parts except forRodlok® mechanism andRodlok® rod
SENSOR OPTIONSSPP99** - Rotary jaw position sensor
pre-installed (see Note 3for compatibility)
200 Z1 - H47
OPTIONS(OMIT IF NOT REQUIRED)
JAW TRAVEL LIMITING OPTIONSGRR02, GRR12 & GRR22
ANxxx - Jaw travel limitation on open,both jaws
ATxxx - Jaw travel limitation on closed,both jawsGRR02 & GRR22 ONLY
APxxx - Jaw travel limitation on open,Jaw A only
AQxxx - Jaw travel limitation on open,Jaw B only
ARxxx - Jaw travel limitation on closed,Jaw A only
AUxxx - Jaw travel limitation on closed,Jaw B only
OPEN POSITION
CLOSED POSITION
15
AA26
99
3748
JAW B
JAW A
INDEX:
© Copyright 2005, by PHD, Inc. All Rights Reserved. Printed in the U.S.A.
Engineering DataPages 6 and 7
DimensionsPages 8 and 9
OptionsPages 10 to 14
AccessoriesPages 12 to 17
Exploded Views & Parts ListsPage 18
Application ExamplesPage 19
Custom Productsand SolutionsPage 20
Ordering DataPages 2 and 3
BenefitsPages 4 and 5
GUARDIANGRIPPER
™
CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD.
CU
STO
M PRODUCTS
F
ITTO NEED
CU
STO
M PRODUCTS
F
ITTO NEED
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THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS
PART NUMBER51422-005-0251422-006-02
DESCRIPTIONNPN (Sink) 5-30 VDC, 2 meter cablePNP (Source) 5-30 VDC, 2 meter cable
8mm THREADED INDUCTIVE PROXIMITY SWITCHES
PART NUMBER15561-00115561-00215561-003
DESCRIPTIONNPN (Sink) 10-30 VDC, 3 meter cablePNP (Source) 10-30 VDC, 3 meter cable20-250 VAC, 3 meter cable
12mm THREADED INDUCTIVE PROXIMITY SWITCHES
STANDARD74994-31
CORROSION RESISTANT74994-32
THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS
8mm SWITCH74992-31
CORROSION RESISTANT8mm SWITCH
74992-3212mm SWITCH
74993-31
CORROSION RESISTANT12mm SWITCH
74993-32
Kit includes 1 proximity switch target and 2 target mounting screws.
Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.
JAW POSITION SENSOR KIT
74209-32Kit includes 1 jaw position sensor, 2 mountingscrews, 1 seal and 1 coupling.
CORROSION RESISTANTSTANDARD74209-31
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NARROW WIDTH AND LONG TRAVEL
coated steel inserts offer superiorstrength corrosion resistantmounting threads
rack and pinion synchronizeron model GRR12(see details above)
TC fluoropolymer compositebushings provide long life, arecontamination and impact resistance
one piece case hardened ground jaw guidesprovide high precision and durability
shaft wipers on jaw guidesprotect bearings from external
contamination
internal lubrication is provided forextended life without maintenance
hardcoatedaluminum piston
rod for wearresistance
proximity switches availablefor sensing jaw position
jaw position sensoravailable for continuous
jaw position feedback
ball bearings support pinionfor smooth operation and long life
stainless tubing enclosesrack to protect from contaminationand to maintain lubrication
rack and pinion synchronizerminimizes backlash
TC fluoropolymercomposite bushingsprovide wear resistance
now available in150, 200, 250 &
350 mm totaljaw travels
NEW!NEW!
keyed base andend plates
ensure alignment
pressure energized sealsfor low breakaway. Seals
available in Fluoro-Elastomer
optional Rodlok® holdsjaw position if airpressure is lost
corrosion resistant optionfor increased protection
GRR with New Features
open and close portsymbols simplifyinstallation
NEW!NEW!
NEW!NEW!
NEW!NEW!
NEW!NEW!
NEW!NEW!
NEW!NEW!
NEW!NEW!
SERIES GRR GRIPPER
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30000
25000
20000
15000
10000
5000
0
Major Benefits
• Narrow width and a wide range of available jaw travels
• Compact design provides high grip force and largemoment capacities with low overall weight.
• Rugged build withstands high impact and shock loads.
• Double acting for both internal and external gripping.
• Unique dual air-passage piston rod design promotesrapid bore pressurization for short cycle times.
• Three large diameter jaw guides spanning the length ofthe gripper provide stable jaw travel, long allowabletooling length, and high moment capacities.
• TC fluoropolymer composite guide shaft bushingsprovide long life and smooth jaw travel in demandingindustrial environments.
• Synchronizer is enclosed, protecting the mechanismfrom debris.
• Non-synchronized and independently controlled jawsallow flexibility to support diverse applications.
• Optional Rodlok® locks the jaws in a stationary positionin the event air pressure is lost.
• Optional analog output sensor continuously monitorsentire jaw travel. Gripper is “sensor ready” allowingthe sensor to be factory installed or easily installed inthe field.
• Proximity switches are available for discrete indicationof jaw position.
Industry Uses
• Material handing of rolls, barrels, pallets, andcontainers
• Movement of large sand and investment castings
• Small engine block manufacture
• Automotive, aeronautical, and agricultural wheelrim manufacture
• Clamping and fixturing during assembly operations
• Gaging and sorting of large parts and assemblies
• Centering and registration of heavy parts
• Incorporation into space-restricted processing andmanufacturing equipment
List marks of PHD which appear on promotional material are registered trademarks of PHD, Inc.
Design Enhancements• 75% Higher moment capacity• 55% Higher grip force• 25% Higher speed• 10% Lower weight• Additional accessories• Continuous feedback jaw position sensor• Extensive engineering analysis and testing assure
performance
STRESS ANALYSIS PLOT [psi]
GUARDIANGRIPPER
™
(HALF MODEL SHOWN)
SERIES GRR GRIPPER
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ENGINEERING DATA: SERIES GRR GRIPPERS
MODELNUMBER
GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350
in5.917.879.8413.8
cm3
472629787
1098
MINIMUMTOTAL JAW
TRAVELIMPERIAL
8.09
METRIC
522
EXTERNAL GRIPIMPERIAL
7.27
METRIC
469
INTERNAL GRIP
CLOSE OROPEN TIME
87psi [6 bar]sec0.280.360.420.57
GRIP FORCE FACTOR GF
GRIP FORCE VARIES WITH TOOLING LENGTH
lb28.033.039.249.0
mm150200250350
in3
28.838.448.067.0
kg12.715.017.822.2
GRIPPERWEIGHT
SERIES GRR
30 psi min to 120 psi [2 to 8 bar] max air-20° to +180°F [-28° to +82°C]
Higher temperature service available. Consult PHD.5 million cycles minimum with standard seals
Within ±0.002 [±0.05 mm] of original centered positionSee table below
Factory lubricated for rated lifeField repairable
SPECIFICATIONSOPERATING PRESSURE
STANDARD UNITOPERATING TEMPERATURE
RATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE
MODELNUMBER
GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350
lb3500350035003500
FaN
15570155701557015570
in-lb8000900090009000
MxNm880990990990
in-lb6500750075007500
MyNm715825825825
in-lb6500750075007500
MzNm715825825825
MAXIMUM ALLOWABLE FORCES AND MOMENTS
Fa: Total for both jaws.Mx: Allowable moment per jaw, measured from jaw mounting surface.My: Allowable moment per jaw, measured from geometric center of jaw.Mz: Allowable moment per jaw, measured from jaw mounting surface.
ONEDIRECTION
DISPLACEMENT
0.70
0.75
0.85
0.90
0.95
1.00
0 2 4 6 8 10 12 14 16 18 20
TOOL
ING
LENG
TH F
ACTO
R
350 mm
200 mm
250 mm
150 mm
[50]
TOOLING LENGTH in [mm]
[100] [150] [200] [250] [300] [350] [400] [450] [500]
0.80
TOOLING LENGTH FACTORJaw tooling should be designed so that the
grip point is as close to the jaw surface as possible.As the grip point is moved away from the jaw surface,the applied moment causes jaw friction to increase,resulting in reduced effective grip force. The grip forcefactor (GF) values given in the table above are for zerotooling length (jaw surface).
The maximum load that grippers can handle willvary based on: size of the part being picked up, shapeof the part, texture of the part, speed at which the part istransferred, working pressure, shape of the fingers, etc. PHDrecommends that the fingers of jaws be tooled or machined toconform to the shape of the part being gripped.
When calculating the value for Fa, include weight of tooling, partweight, acceleration, and external forces. When calculating values forMx, My, and Mz, include the grip force per jaw, part weight, externalforces, and acceleration as applicable.
NOTE: Moment values assume the use of all threadedmounting holes.
My
Mx
Fa
Mz
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All dimensions are reference only unless specifically toleranced.
ENGINEERING DATA: SERIES GRR GRIPPERS
300
400
500
600
700
800
900
150 mm Travel
TOTA
L GR
IP F
ORCE
lb
[N]
200 mm Travel
250 mm Travel
350 mm Travel
CLOSEOPEN
CLOSEOPEN
CLOSEOPEN
CLOSEOPEN
[1334]
[1779]
[2224]
[2669]
[3114]
[3559]
[4003]
300
400
500
600
700
800
900
TOTA
L GR
IP F
ORCE
lb
[N]
[1334]
[1779]
[2224]
[2669]
[3114]
[3559]
[4003]
TOOLING LENGTH in [mm]
400
500
600
700
800
900
TOTA
L GR
IP F
ORCE
lb
[N]
[1779]
[2224]
[2669]
[3114]
[3559]
[4003]
300[1334]
400
500
600
700
800
900
TOTA
L GR
IP F
ORCE
lb
[N]
[1779]
[2224]
[2669]
[3114]
[3559]
[4003]
300[1334]
0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]
0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]
0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]
0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]
87 psi [6 bar]
100 psi [7 bar]
60 psi [4 bar]
TOOLING LENGTH in [mm]
TOOLING LENGTH in [mm] TOOLING LENGTH in [mm]
87 psi [6 bar]
100 psi [7 bar]
60 psi [4 bar]
87 psi [6 bar]
100 psi [7 bar]
60 psi [4 bar]
87 psi [6 bar]
100 psi [7 bar]
60 psi [4 bar]
PART
F = TOTAL GRIP FORCE
F/2F/2
JawSurface
ToolingLength
GRIP FORCETotal gripping force relative to tooling length is shown below at
the stated actuating pressure. Grip force per jaw equals the total gripforce divided by two. The graphs also indicate the maximum toolinglength for each gripper size.
GRIP FORCE CALCULATION EQUATIONS:
IMPERIAL:
TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor
METRIC:TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor
GRIP FORCE CALCULATION EXAMPLE:Gripper: Series GRR Size 63 x 200Common Parameters:
Operating Pressure = 87 psi [6 bar]Tooling Length = 10 in [254 mm]
1. Determine Grip Force Factor GF = 8.09 [522] (from table on page 6)
2. Determine Tooling Length Factor = 0.84 [0.84] (from Tooling Length Factor graph)
3. Total Grip Force Calculations:
For Standard Unit: GRR12-2-63 x 200 [GRR12-6-63 x 200]
Total Grip Force = 87 psi x 8.09 x 0.84 = 591 lb [6 bar x 522 x 0.84 = 2630 N]
PART
F = TOTAL GRIP FORCE
F/2F/2
JawSurface
ToolingLength
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NOTES:1) DESIGNATED C IS CENTERLINE OF UNIT.2) ALL DIMENSIONS ARE FOR REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED.3) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm.4) CIRCLED NUMBERS INDICATE POSITION.5) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION.
A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.6) **PLUGGED PORTS P1 & P2, CAN BE USED FOR GRIPPER ACTUATION.
2
3
1
4
5
6
L
CL
CL
CL
CL
FOR PROXIMITY SWITCHMOUNTING, SEE ACCESSORIESSECTION FOR DIMENSIONS
FOR OPTIONAL -H47SEE OPTIONS FORDIMENSIONS
10X MANUFACTURING HOLES(CONSULT PHD FOR MOREINFORMATION)
FOR OPTIONAL -SPP99SENSOR MOUNTING.
SEE OPTIONS SECTIONFOR DIMENSIONS
2X MANUFACTURING HOLES(CONSULT PHD FOR MORE INFORMATION)
4X P2 PORT **(PLUGGED)
4X K8 ±.00030 [H7]DOWEL PIN HOLE
16X K7 THD(THREADED INSERTS)
P1 PORT(CLOSE)
P1 PORT(OPEN)
2X P1 PORT**(PLUGGED)
8X J6 THD(THREADED
INSERTS)
4X J7 +.00040/-.00030 [H7]DOWEL PIN HOLE
K5K6
K4K3K2
K1
B1
P5
P4
A OPEN*A CLOSED*
J4J5
J3
B52X J1B4
J8
B3
B8
J2
P7
P8
P6
B2
P3
J9
2X Ø B7(SECONDARYJAW GUIDE)
Ø B6 (PRIMARY JAW GUIDE)
JAW PROFILE(CONSULT
PHD FOR MOREINFORMATION)
DIMENSIONS: SERIES GRR GRIPPERS GUARDIANGRIPPER
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DIMENSIONS: SERIES GRR GRIPPERS
mm
75.0120.0270.0439.888.990.025.425.125.419.1
158.8105.188.960.066.033.0
M12 x 1.75 x 25.0 DP12.0 x 15.9 DP
161.947.045.0
320.0209.8159.0108.260.0
M8 x 1.25 x 19.0 DP8.0 x 19.0 DP
1/4 BSPP1/8 BSPP
9.5114.382.68.7
10.515.0
LETTERDIM
MIN. TRAVELPER JAW
A CLOSED*A OPEN*
B1B2B3B4B5B6B7B8J1J2J3J4J5J6J7J8J9K1K2K3K4K5K6K7K8P1P2P3P4P5P6P7P8
in
2.9534.724
10.63017.3143.5003.5431.000.990
1.000.750
6.2504.1363.5002.3622.598
1.29901/2-13 x 1.00 DP.47275 x .625 DP
6.3751.8501.773
12.5988.2606.2604.260
2.36203/8-16 x .750 DP.31525 x .750 DP
1/4 NPT1/8 NPT
.3754.50
3.250.344.413.591
GRRx2-x-63 X 150MODEL NUMBER
in
3.9375.504
13.37921.2513.5003.5431.000.990
1.000.750
6.2505.1203.5002.3623.544
1.77201/2-13 x 1.00 DP.47275 x .625 DP
6.3752.2401.773
14.9608.2606.2604.260
2.36203/8-16 x .750 DP.31525 x .750 DP
1/4 NPT1/8 NPT
.3754.50
3.250.344.413.591
GRRx2-x-63 X 200mm
100.0139.8339.8539.888.990.025.425.125.419.1
158.8130.088.960.090.045.0
M12 x 1.75 x 25.0 DP12.0 x 15.9 DP
161.956.945.0
380.0209.8159.0108.260.0
M8 x 1.25 x 19.0 DP8.0 x 19.0 DP
1/4 BSPP1/8 BSPP
9.5114.382.68.7
10.515.0
in
4.9215.504
15.34726.0163.5003.5431.000.990
1.000.750
6.2506.5183.5002.3623.544
1.77201/2-13 x 1.00 DP.47275 x .625 DP
6.3752.2401.773
14.9608.2606.2604.260
2.36203/8-16 x .750 DP.31525 x .750 DP
1/4 NPT1/8 NPT
.3754.50
3.250.344.413.591
mm
125.0139.8389.8660.888.990.025.425.125.419.1
158.8165.688.960.090.045.0
M12 x 1.75 x 25.0 DP12.0 x 15.9 DP
161.956.945.0
380.0209.8159.0108.260.0
M8 x 1.25 x 19.0 DP8.0 x 19.0 DP
1/4 BSPP1/8 BSPP
9.5114.382.68.7
10.515.0
GRRx2-x-63 X 250in
6.89012.99226.77233.8903.5003.5431.000.9901.000.7506.2508.4873.5002.3623.544
1.77201/2-13 x 1.00 DP.47275 x .625 DP
6.3755.9841.773
23.2288.2606.2604.260
2.36203/8-16 x .750 DP.31525 x .750 DP
1/4 NPT1/8 NPT
.3754.503.250.344.413.591
mm
175.0330.0680.0860.888.990.025.425.125.419.1
158.8215.688.960.090.045.0
M12 x 1.75 x 25.0 DP12.0 x 15.9 DP
161.9152.045.0
590.0209.8159.0108.260.0
M8 x 1.25 x 19.0 DP8.0 x 19.0 DP
1/4 BSPP1/8 BSPP
9.5114.382.68.7
10.515.0
GRRx2-x-63 X 350
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MODEL/OPTIONS: SERIES GRR GRIPPERS
METRIC UNIT WITH IMPERIAL(NPT) PORTS
CORROSION RESISTANT
This option provides a corrosion resistant coating on allferrous parts for use in applications where the standard parts maycorrode.
NOTE: Rodlok® and Rodlok rod, part of -H47 option, are notcorrosion resistant.
Fluoro-elastomer seals and PTFE jaw guide scrapers are availableto achieve seal compatibility with certain fluids. Seal compatibilityshould be checked with the fluid manufacturer for properapplication.
NOTE: Rodlok, part of -H47 option does not include -V1components. Consult PHD for fluid compatibility with -SPP99option. Consult PHD for high temperature use.
FLUORO-ELASTOMER SEALS
L9
Z1 V1
This model synchronizes the jaws for use with parts that mustbe centered. Jaws are pressurized by a single set of ports.
GRR12 SYNCHRONIZED
This model allows each jaw to move independently while beingpressurized by a single set of ports. This feature allows the grippingof off center parts.
GRR02 NON-SYNCHRONIZED
This model adds the ability to independently power each jaw.The jaws are not synchronized and may be cycled at differing ratesor pressures.
GRR22NON-SYNCHRONIZED ANDINDEPENDENTLYPOWERED JAWS
PART
PART
PART
OPEN
CLOSE
OPEN
CLOSE
OPEN
CLOSE
PART
PART OFF CENTER
CLOSE
OPENJAW B JAW A
JAW B
JAW B
JAW A
JAW A
EXTERNAL TOOLING
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OPTIONS: SERIES GRR GRIPPERS
These options provide corrosion resistant jaw travel stop tubesfor use in limiting jaw travel on open or close. The travel limitingstop tubes provide a repeatable positive stop.
Model (GRR12) requires identical stops for both jaws whiletraveling in the same direction. Synchronized units may only use theANxxx and ATxxx options. Non-synchronized models (GRR02 &GRR22) may use the APxxx, ARxxx, AUxxx, or AQxxx in any
ANxxxAVAILABLE ON GRR02, GRR12, & GRR22
ATxxx
TRAVEL LIMITING STOPScombination for limiting the travel of either jaw independently.
Non-synchronized units may also be ordered with ANxxx orATxxx options.
Travel limiting tubes are available in lengths from 03.0to 99.9 mm in .1 mm increments.
For adjustable jaw travel, see travel adjustment collars onpage 17.
ATXXX
ANXXX
25.1 mm
APxxxARxxxAUxxxAQxxx
Ø 1.48 in[37.6 mm]
JAW B JAW A
JAW B JAW A
APxxxAVAILABLE ON GRR02 & GRR22 MODELS ONLY
ARxxx AUxxx AQxxxEXAMPLE:
-ATxxx stop with 25.1 mm length = -AT251
NOTE: Option’s xxx are in .1 mm incrementswith implied decimal point one placefrom right, and must be 3 digits longwith values ranging between 03.0 and99.9 mm.
GUARDIANGRIPPER
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PHD’s Rodlok® is ideal for locking the jaws while in a static/stationary position. When the pressure is removed from the port ofthe Rodlok®, the mechanism will grip on the external guide shaftand prevent the jaws from moving. The loads are held indefinitelywithout power. Rodlok® performance is application andenvironment sensitive. Cleanliness of shaft or Rodlok® will alsoaffect performance.
H47 RODLOK®
THE RODLOK® IS NOT DESIGNED TO BE USED AS APERSONNEL SAFETY DEVICE.
Option -H47 provides the Rodlok® pre-assembled to thegripper. The port of the Rodlok device will be in position 5.
Option -H47 may be purchased with the -Z1 (corrosionresistant) option and -V1 (fluid compatibility) option. However theRodlok® and Rodlok® rod DO NOT PROVIDE corrosion resistance orfluid compatibility.
5
6
4 2
1
4 2
3
-H47 OPTION ONGRR02 & GRR22
-H47 OPTION ONGRR02, GRR12 &GRR22
L1
L10
L13
L11
L2
L12
B2
L5
1/8 NPT* (GRRx2-2)[1/8 BSPP (GRRx2-6)]
RODLOK® PORT MUST BEPRESSURIZED BEFORE
OPERATING GRIPPER
L9L7
L8
L6
L4
B1
L3
L16
L17NPT PORT ADAPTOR
RODLOK ROD
OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS
GRR02 & GRR22 WITH -H47 OPTIONGRR12 WITH -H47 OPTION
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All dimensions are reference only unless specifically toleranced.
OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS
L14 = WEIGHT ADDER FOR GRR12L15 = WEIGHT ADDER FOR GRR02 & GRR22NOTES:1) LOCKING FORCE INDICATED IS THE ACTUAL LOCKING FORCE WITH A DRY, CLEAN
ROD AND DOES NOT INCLUDE ANY SAFETY FACTOR. IT IS POSSIBLE TO OVERRIDETHE RODLOK® WITH VERY HIGH FORCE APPLIED TO THE GRIPPER.
2) CIRCLED NUMBERS INDICATE POSITION.3) *1/8" NPT PORT IS AN ADAPTOR INCLUDED WITH IMPERIAL UNITS.
N2200
SIZE63
lb495
(see Note 1)STATIC LOCKING FORCE
COMPLETE RODLOK® KIT (PER JAW)
Full unit description - H9110Kit includes Rodlok and Rodlok adaptorfor a single (1) jaw.
RODLOK® ADAPTOR KIT (PER JAW)
Full unit description - H9105Kit includes Rodlok adaptor for a single(1) jaw. Does not include Rodlok.
RODLOK® KIT (PER JAW)
Full unit description - H9100Kit includes Rodlok for a single (1) jaw.Does not include Rodlok imperial port adaptor.
RODLOK® SEAL KIT (PER JAW)
Full unit description - H9115Kit includes seals and wear rings for asingle (1) jaw.
mm439.888.948.34.2
20.0125.03.6
27.230.9
133.556.141.991.9
115.6158.3
1.79 kg3.58 kg100.627.1
LETTERDIMB1B2L1L2L3L4L5L6L7L8L9L10L11L12L13L14L15L16L17
in17.3143.5001.900.165.787
4.920.141
1.0701.2175.2542.2091.1503.6184.5506.2343.95 lb7.90 lb3.9601.06
GRRx2-x-63 X 150MODEL NUMBER
GRRx2-x-63 X 200mm
539.888.948.34.220.0149.93.627.230.9133.556.141.991.9115.6158.3
1.91 kg3.83 kg100.627.1
in21.2513.5001.900.165.787
5.900.141
1.0701.2175.2542.2091.1503.6184.5506.2344.22 lb8.44 lb3.9601.06
GRRx2-x-63 X 250mm
660.888.948.341.420.0184.93.627.230.9133.556.141.991.9115.6158.3
1.97 kg3.95 kg100.627.1
in26.0163.5001.9001.630.7877.280.1411.0701.2175.2542.2091.1503.6184.5506.2344.35 lb8.70 lb3.9601.06
GRRx2-x-63 X 350mm
860.888.948.385.620.0235.03.627.230.9133.556.141.991.9115.6158.3
2.11 kg4.22 kg100.627.1
in33.8903.5001.9003.370.7879.250.1411.0701.2175.2542.2091.1503.6184.5506.2344.65 lb9.30 lb3.9601.06
ACCESSORIES - RODLOK®
The Series GRR is -H47 ready as standard. The followingitems may be added to the Design 2 [6] GRR or may be used asreplacement parts. Note that the kits below are for one jaw only.
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14SOLUTIONS FORINDUSTRIAL AUTOMATION
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PHD’s Jaw Position Sensor provides an easy to use,economical, fully integrated solution to continuously monitorthe grip position of the jaws. The sensor mounts directly to thegripper making field installation or replacement quick and easy.The 3-pin quick-connect connector provides a 0-10 volt analogoutput compatible with standard analog control modules.
Consult PHD for use with -V1 option.
SPP99 JAW POSITION SENSOR
OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS
Ø 2.000 [Ø 51.0] MIN HOLETO ALLOW REMOVAL OFPOSITION SENSOR
mm161.919.036.5254
LETTERDIMJ8
SP1SP2SP3
in6.375.7481.43710.000
GRRx2-x-63MODEL NUMBER
+ VDC (PIN 1)
SIGNAL OUT (PIN 2)
GROUND (PIN 3)
CONNECTORINTERFACE
3mm HEX SIZE
1
MALE QUICK CONNECT
SP2
J8
Ø 1.500 [Ø 38.1] MIN HOLETO PROVIDE CLEARANCE FORPOSITION SENSOR
SP3
[M8 X 1]THREAD
Ø SP1
3
5
2
6
4
RESOLUTIONResolution of sensor installed into gripper is 0.001 inch
[0.025 mm] in conjunction with an analog control module having 15 bitsor greater input resolution.
REPEATABILITYMaximum variation of reported grip dimension when repeatedly
gripping the same object is ±0.002 in [±0.05 mm].
ENVIRONMENTALTemperature Limits: -20 to 180°F [-28 to 82°C]IP67 compliant when installed in gripper.
ELECTRICALSupply Voltage: 15-30 VDC, reverse polarity protectedOutput Voltage: 0-10 VDC, short-circuit protectedOutput Constant: 663 ± 1mV/inch [26.10 ± 0.04 mV/mm] of
grip changeOutput Voltage Offset: <10mV typicalOutput Linearity: ± 0.3%
GUARDIANGRIPPER
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All dimensions are reference only unless specifically toleranced.
15SOLUTIONS FORINDUSTRIAL AUTOMATION
(800) 624-8511www.phdinc.com/grrGRR03
Series GRR is supplied -SPP99 ready. Kit below provides thesame jaw position sensor and mounting hardware supplied pre-assembled with the -SPP99 option. See option details for furtherinformation.
ACCESSORIES - JAW POSITION SENSOR
Provides a cordset with female quick connect and additionalcable. Perfect for use with the Set Point Module.
ACCESSORIES - CORDSET
ACCESSORIES: SERIES GRR GRIPPERS
SET POINT MODULE
JAW POSITIONSENSOR
CORDSET ACCESSORYSOLD SEPARATELYSEE BELOW
MODEL NO.63549-0263549-05
LETTER DIM.L
78.74 [2 m]196.85 [5 m]
PIN 2/4WIRE COLOR
BLACK
BLACK CABLE
PIN 3WIRE COLORBLUE L
1.299[34.8]
Ø .402[10.2]
.689[19.3]
BLACK CONNECTORPIN 1WIRE COLORBROWN
Set Point Module converts analog output from sensor intodiscrete on-off outputs. Module provides four independentlyadjustable set points throughout jaw travel. Available with NPN(sink) or PNP (source) outputs.
SET POINT MODULEPART NO. DESCRIPTION
9800-01-0300 4.5-24 VDC, Sink Type Output9800-01-0400 4.5-24 VDC, Source Type Output
See Switches and Sensors section in main catalogfor more information.
ACCESSORIES - SET POINT MODULE
JAW POSITION SENSOR KITSTANDARD CORROSION RESISTANT74209-31 74209-32
Kit includes 1 jaw position sensor, 2mounting screws, 1 seal, and 1 coupling.
GUARDIANGRIPPER
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All dimensions are reference only unless specifically toleranced.
16SOLUTIONS FORINDUSTRIAL AUTOMATION
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All dimensions are reference only unless specifically toleranced.
ACCESSORIES: SERIES GRR GRIPPERS
PROXIMITY SWITCHES - EXTERNALThis accessory provides for the external mounting of 8 or
12 mm threaded round metal sensing inductive proximity switches.Multiple switches may be mounted using multiple brackets.Proximity switches, targets, and mounting brackets are orderedseparately. See the Switches and Sensors section in the maincatalog for complete switch specifications.
NOTE: Target and bracket kits do not interchange with Series1 [5] GRR Grippers.
THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS
TARGETS & BRACKETS MAY BELOCATED ON BOTH SIDES OF JAWS
3
4 2
1
SHOWN AS 8mmPROX
SHOWN AS12mm PROX
5
6
4mm HEX SIZETARGET & BRACKET
DIMLETTER
B3SW1SW2SW3SW4SW5SW6SW7SW8
in3.544.920.4101.125.8521.9203.080.9001.211
mm90.023.410.428.621.648.878.222.930.8
GRRx2-x-63
PART NUMBER51422-005-0251422-006-02
DESCRIPTIONNPN (Sink) 5-30 VDC, 2 meter cablePNP (Source) 5-30 VDC, 2 meter cable
8mm THREADED INDUCTIVE PROXIMITY SWITCHES
PART NUMBER15561-00115561-00215561-003
DESCRIPTIONNPN (Sink) 10-30 VDC, 3 meter cablePNP (Source) 10-30 VDC, 3 meter cable20-250 VAC, 3 meter cable
12mm THREADED INDUCTIVE PROXIMITY SWITCHES
STANDARD74994-31
CORROSION RESISTANT74994-32
THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS
8mm SWITCH74992-31
CORROSION RESISTANT8mm SWITCH
74992-3212mm SWITCH
74993-31
CORROSION RESISTANT12mm SWITCH
74993-32
Kit includes 1 proximity switch target and 2 target mounting screws.
Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw.
SW5SW6
SW8
SW2
SW3
B3
SW1
SW7
SW4
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All dimensions are reference only unless specifically toleranced.
ACCESSORIES: SERIES GRR GRIPPERS
TRAVEL ADJUSTMENT COLLARSThis accessory provides travel adjustment stop collars for use
in limiting jaw travel on open or close. The travel adjustment stopcollars provide infinite adjustment. Synchronized model (GRR12)requires travel adjustment collars to be identically located for bothjaws, in the same direction of travel. Non-synchronized models(GRR02 & GRR22) do not require identical stop locations for eachjaw. For non-adjustable jaw travel limiting, see options ANxxx,ATxxx, APxxx, ARxxxx, AUxxx, and AQxxx on page 11.
DIMLETTER
B2SA1SA2SA3SA4
in3.500.630
1.7402.900.035
mm88.916.044.273.7.9
GRRx2-x-63
6
5
24
6mm HEX SIZE
3
1
SA1
SA4
SA3 B2
SA2
STANDARD74211-01
CORROSION RESISTANT74211-02
STROKE ADJUSTMENT COLLAR KITS
POSSIBLE CONFIGURATIONFOR GRR02, GRR12, ORGRR22, SHOWN WITH STROKELIMITED ON OPEN
POSSIBLE CONFIGURATIONFOR GRR22, SHOWN WITH 1JAW RESTRICTED
Kit includes 2 stroke adjustment collars and4 mounting screws.
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EXPLODED VIEW: SERIES GRR GRIPPERS
Full unit description required -H610017831-095
Sold as part of seal kit onlyFull unit description required -H4810Full unit description required -H2000
Sold as part of seal kit only74221
Full unit description required -H2040Full unit description required -H3310Full unit description required -H1300Full unit description required -H4720Full unit description required -H4710
Sold as part of seal kit only74213
Full unit description required -H6210Full unit description required -H6220Full unit description required -H2605
75038Full unit description required -H2020Full unit description required -H4740Full unit description required -H4740Full unit description required -H2030Full unit description required -H9110Full unit description required -H9100
Sold as part of jaw position sensor kit 74209-xxSold as part of seal kit and as part of
jaw position sensor kit 74209-xxFull unit description required -H1705Full unit description required -H1715Full unit description required -H1725Full unit description required -H1735Full unit description required -H1745Full unit description required -H1755
PART DESCRIPTIONBase Plate AssemblyDowel PinO-ring SealCenter Plate AssemblyFHCSO-ring SealJaw Position Sensor CoverSHCSRackRack Cover TubeLarge Jaw GuideSmall Jaw GuideO-ring SealEnd Plate Communication PlugEnd Plate Assembly (location 48)End Plate Assembly (location 26)Jaw AssemblyRack Mounting SpacerLHCSSHCSSHCSSHCSComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Jaw Position Sensor AssemblyO-ring Seal Coupling
-ANxxx Travel Limiting Tube-ATxxx Travel Limiting Tube-APxxx Travel Limiting Tube-AQxxx Travel Limiting Tube-ARxxx Travel Limiting Tube-AUxxx Travel Limiting Tube
PART NUMBERKEY123456789
1011121314151617181920212225
25E3032
404142434445
COMPLETERODLOK® KIT
RODLOK® ADAPTOR KIT(MOUNTING ONLY)
RODLOK® KIT(LOCKING DEVICE ONLY)
25E
25
1314
22
21
20
1519
1817
9
10
4
2
2
3
9
1819
17
16
20
21
22
1314
1
6
7
5
8
30
32
11
12
40
42
44
41 45
43
10
Note: all part numbers are for standard units. Options may affect part numbers*Seal kit does not include Rodlok ® seals. Rodlok seals sold in Rodlok seal kit only.
DESCRIPTIONComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Rodlok Adaptor Kit (per jaw)Rodlok Seal Kit (per jaw)Seal Kit
PART NUMBERFull unit description required -H9110Full unit description required -H9100Full unit description required -H9105Full unit description required -H9115Full unit description required -H9000
KITS
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GRIPPER FOR HIGH FORCEAND HIGH JAW LOADS
The Series GRR Gripper is designed towithstand external forces when moving heavyparts quickly. The parallel design provides forautomatic centering of parts, while the long jawtravel makes it flexible for a wide variety ofapplications. In this application, two SeriesGRR Grippers are mounted on a fixture attached toa robot. The robot will transfer rims from an in-feedconveyor station to and from three separatemachining processes. Then the finished rim isplaced on a conveyor, taking it from themachining area.
APPLICATION EXAMPLES: SERIES GRR GRIPPERS
1
2 34
5
GRIPPER FOR LONG TRAVEL,HIGH FORCE CAPABILITY
The Series GRR Gripper is designed for long stroke, highforce applications. The synchronized parallel jaw motionautomatically centers items for operations such as sorting.The long stroke compensates for items of varying size orposition.
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5M-I 500-A4 5/05 6523
CUSTOM PRODUCTS & SOLUTIONSIllustrations shown are for concept only. Other variations
include:Smaller or larger bore sizesMetallic rod scrapersShorter or longer jaw travelsFluid compatibilityAlternate materials
Contact PHD, Inc. with your productrequirements.
CUSTOM PRODUCTS & SOLUTIONS: SERIES GRR
LONGER THANSTANDARD JAWTRAVEL
SHOCK PADS ONOPEN OR CLOSED
UNEQUAL JAW TRAVELS(NON-SYNCHRONIZED)
LOW PROFILE UNIT
DOUBLE FORCE UNIT ENCLOSED UNIT
PHD, Inc. PHD GmbH9009 Clubridge Drive Arnold-Sommerfeld-Ring 2
P.O. Box 9070, Fort Wayne, Indiana 46899 U.S.A. 52499 Baesweiler, GermanyPhone (260) 747-6151 • Fax (260) 747-6754 Tel. +49 (0) 2401 805 230 • Fax +49 (0) 2401 805 232
[email protected] • www.phdinc.com [email protected]
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