grr - delta equipement · • narrow width and a wide range of available jaw travels. • compact...

GRR

4-131www.phdinc.com/grr • (800) 624-8511 PHDV1

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 resistant

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

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

open and close portsymbols simplifyinstallation

NARRow width ANd loNg tRAvel

U.S. PATENT #7,490,881

GRR

GRR

4-132www.phdinc.com/grr • (800) 624-8511PHDV1

30000

25000

20000

15000

10000

5000

0

200000

170000

140000

100000

70000

35000

PSI kPa

Major Benefits

• Narrowwidthandawiderangeofavailablejawtravels.• Compactdesignprovideshighgripforceandlarge momentcapacitieswithlowoverallweight.

• Ruggedbuildwithstandshighimpactandshockloads.• Doubleactingforbothinternalandexternalgripping.• Uniquedualair-passagepistonroddesignpromotesrapidborepressurizationforshortcycletimes.

• Threelargediameterjawguidesspanningthelengthofthegripperprovidestablejawtravel,longallowabletoolinglength,andhighmomentcapacities.

• TCfluoropolymercompositeguideshaftbushingsprovidelonglifeandsmoothjawtravelindemandingindustrialenvironments.

• Synchronizerisenclosed,protectingthemechanismfromdebris.

• Non-synchronizedandindependentlycontrolledjawsallowflexibilitytosupportdiverseapplications.

• OptionalRodloklocksthejawsinastationarypositionintheeventairpressureislost.

• Optionalanalogoutputsensorcontinuouslymonitorsentirejawtravel.Gripperis“sensorready”forSPP99optionwhichallowsthesensortobefactoryinstalledoreasilyinstalledinthefield.STT99optioncannotbeaddedinthefieldandmustbeorderedinconjunctionwiththegripper.

• Proximityswitchesareavailablefordiscreteindicationofjawposition.

Industry Uses

• Materialhandlingofrolls,barrels,pallets,andcontainers

• Movementoflargesandandinvestmentcastings• Smallengineblockmanufacture• Automotive,aeronautical,andagriculturalwheelrimmanufacture

• Clampingandfixturingduringassemblyoperations• Gagingandsortingoflargepartsandassemblies• Centeringandregistrationofheavyparts• Incorporationintospace-restrictedprocessingandmanufacturingequipment

ListmarksofPHDwhichappearonpromotionalmaterialareregisteredtrademarksofPHD,Inc.

Design Enhancements

• 75%Highermomentcapacity• 55%Highergripforce• 25%Higherspeed• 10%Lowerweight• Additionalaccessories• Continuousfeedbackjawpositionsensor• Extensiveengineeringanalysisandtestingassureperformance

STRESS ANALYSIS PLOT [psi]

(HALF MODEL SHOWN)

SERIES GRR GRIPPER

GRR


oRdeRiNg dAtA: SeRieS gRR gRiPPeRS

UNIQUEGRIPPERSAREAVAILABLE.SEEPAGES4-179TO4-204.

8 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION51422-005-02 NPN(Sink),2metercable51422-006-02 PNP(Source),2metercable

8 mm & 12 mm THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITSSTANDARD CORROSION RESISTANT74994-31 74994-32

Kitincludes1proximityswitchtargetand2targetmountingscrews

THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS8 mm

SWITCHCORROSION RESISTANT

8 mm SWITCH12 mm


12 mm SWITCH74992-31 74992-32 74993-31 74993-32Kitincludes1proximityswitchmountingbracket,1mountingnut,and1mountingscrew

12 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION15561-001 NPN(Sink),2metercable15561-002 PNP(Source),2metercable15561-003 VACSolidState,3metercable

REPLACEMENT STT99 JAW POSITION SENSOR KITS

KIT STANDARDCORROSION RESISTANT

SensorReplacementKit 84404-11 84404-12Kitincludes1jawpositionsensor,2mountingscrews,1sealandspring

SPP99 JAW POSITION SENSOR KITS


SensorReplacementKit 74209-31 74209-32Kitincludes1jawpositionsensor,2mountingscrews,1sealand1couplingseal

TO ORDER SPECIFY:Product Line, Series, Type, Synchronization, Jaw, Design No., Size, Total Jaw Travel, and Options required.

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 OPTIONS

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 jaws GRR02 & 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

Total Jaw Travel = (Open position - Closed Position)

NOTES:1) Design number indicates imperial

or metric mounting holes and ports. Dowel pin holes are metric regardless of design number.

2) Standard unit is Rodlok ready.3) Available on GRR1 only. GRR1 unit

is SPP99 ready.4) Available on GRR1 only. -STT99

option must be ordered with the gripper. Only sensor replacement kits are available.

L9 - NPT Ports (metric units only)UNIT OPTIONS

H47 - Rodlok (See Note 2)V1 - Fluoro-Elastomer Seals

except for Rodlok mechanismZ1 - Corrosion resistant coating on

exposed parts except for Rodlok mechanism and Rodlok rod

SENSOR OPTIONSSPP99 - Rotary jaw position sensor

installed (see Note 3)STT99 - Coupled rotary jaw position

sensor installed (see Note 4)

GRR


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 in [�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

TOO

LIN

G L

ENG

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 FACTORJawtoolingshouldbedesignedsothatthe

grippointisasclosetothejawsurfaceaspossible.Asthegrippointismovedawayfromthejawsurface,theappliedmomentcausesjawfrictiontoincrease,resultinginreducedeffectivegripforce.Thegripforcefactor(GF)valuesgiveninthetableaboveareforzerotoolinglength(jawsurface).

Themaximumloadthatgripperscanhandlewillvarybasedon:sizeofthepartbeingpickedup,shapeofthepart,textureofthepart,speedatwhichthepartistransferred,workingpressure,shapeofthefingers,etc.PHDrecommendsthatthefingersofjawsbetooledormachinedtoconformtotheshapeofthepartbeinggripped.

WhencalculatingthevalueforFa,includeweightoftooling,partweight,acceleration,andexternalforces.WhencalculatingvaluesforMx,My,andMz,includethegripforceperjaw,partweight,externalforces,andaccelerationasapplicable.

NOTE: Moment values assume the use of all threaded mounting holes.

My

Mx

Fa

Mz

eNgiNeeRiNg dAtA: SeRieS gRR gRiPPeRS

GRR


eNgiNeeRiNg dAtA: SeRieS gRR gRiPPeRS

300

400

500

600

700

800

900

150 mm Travel

TOTA

L G

RIP

FO

RCE

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 G

RIP

FO

RCE

lb

[N]

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]


400

500

600

700

800

900

TOTA

L G

RIP

FO

RCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

400

500

600

700

800

900TO

TAL

GR

IP F

OR

CE l

b [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]

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 FORCETotalgrippingforcerelativetotoolinglengthisshownbelowat

thestatedactuatingpressure.Gripforceperjawequalsthetotalgripforcedividedbytwo.Thegraphsalsoindicatethemaximumtoolinglengthforeachgrippersize.

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: SeriesGRRSize63x200Common Parameters: Operating Pressure =87psi[6bar] Tooling Length =10in[254mm]

1. Determine Grip Force Factor GF =8.09[522](fromtableonpage4-94)

2. Determine Tooling Length Factor =0.84[0.84](fromToolingLengthFactorgraph)

3. Total Grip Force Calculations:

For Standard Unit:GRR12-2-63x200[GRR12-6-63x200] Total Grip Force =87psix8.09x0.84=591lb[6barx522x0.84=2630N]

PART

F = TOTAL GRIP FORCE

F/2F/2

JawSurface

ToolingLength

Alldimensionsarereferenceonlyunlessspecificallytoleranced.

GRR


diMeNSioNS: SeRieS gRR gRiPPeRS

NOTES:1) DESIGNATED C IS CENTERLINE OF UNIT.2) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm.3) CIRCLED NUMBERS INDICATE POSITION.4) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION.

A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.5) **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*

J4

J5

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)


GRR


mm

75.0120.0270.0439.888.990.025.425.125.419.1158.8105.188.960.066.033.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.947.045.0320.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.710.515.0

LETTERDIM

MIN. TRAVELPER JAW

A CLOSED*A OPEN*

B1B2B3B4B5B6B7B8J1J2J3J4J5J6J7J8J9K1K2K3K4K5K6K7K8P1P2P3P4P5P6P7P8

in

2.9534.72410.63017.3143.5003.5431.000.9901.000.7506.2504.1363.5002.3622.5981.2990

1/2-13 x 1.00 DP.47275 x .625 DP

6.3751.8501.77312.5988.2606.2604.2602.3620

3/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.503.250.344.413.591

GRRx2-x-63 X 150MODEL NUMBER

in

3.9375.50413.37921.2513.5003.5431.000.9901.000.7506.2505.1203.5002.3623.5441.7720

1/2-13 x 1.00 DP.47275 x .625 DP

6.3752.2401.77314.9608.2606.2604.2602.3620

3/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.503.250.344.413.591

GRRx2-x-63 X 200mm

100.0139.8339.8539.888.990.025.425.125.419.1158.8130.088.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.956.945.0380.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.710.515.0

in

4.9215.50415.34726.0163.5003.5431.000.9901.000.7506.2506.5183.5002.3623.5441.7720

1/2-13 x 1.00 DP.47275 x .625 DP

6.3752.2401.77314.9608.2606.2604.2602.3620

3/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.503.250.344.413.591

mm

125.0139.8389.8660.888.990.025.425.125.419.1158.8165.688.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.956.945.0380.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.710.515.0

GRRx2-x-63 X 250in

6.89012.99226.77233.8903.5003.5431.000.9901.000.7506.2508.4873.5002.3623.5441.7720

1/2-13 x 1.00 DP.47275 x .625 DP

6.3755.9841.77323.2288.2606.2604.2602.3620

3/8-16 x .750 DP.31525 x .750 DP

1/4 NPT1/8 NPT

.3754.503.250.344.413.591

mm

175.0330.0680.0860.888.990.025.425.125.419.1158.8215.688.960.090.045.0

M12 x 1.75 x 25.0 DP12.0 x 15.9 DP

161.9152.045.0590.0209.8159.0108.260.0

M8 x 1.25 x 19.0 DP8.0 x 19.0 DP

1/4 BSPP1/8 BSPP

9.5114.382.68.710.515.0

GRRx2-x-63 X 350

diMeNSioNS: SeRieS gRR gRiPPeRS


GRR


Model/oPtioNS: SeRieS gRR gRiPPeRS

METRIC UNIT WITH IMPERIAL (NPT) PORTS

CORROSION RESISTANT

Thisoptionprovidesacorrosionresistantcoatingonallferrouspartsforuseinapplicationswherethestandardpartsmaycorrode.

NOTE:RodlokandRodlokrod,partof-H47option,arenotcorrosionresistant.

Fluoro-elastomersealsandPTFEjawguidescrapersareavailabletoachievesealcompatibilitywithcertainfluids.Sealcompatibilityshouldbecheckedwiththefluidmanufacturerforproperapplication.

NOTE:Rodlok(partof-H47option)doesnotinclude-V1components.ConsultPHDforfluidcompatibilitywith-STT99and-SPP99option.ConsultPHDforhightemperatureuse.

FLUORO-ELASTOMER SEALS

L9

Z1 V1

Thismodelsynchronizesthejawsforusewithpartsthatmustbecentered.Jawsarepressurizedbyasinglesetofports.

GRR12 SYNCHRONIZED

Thismodelallowseachjawtomoveindependentlywhilebeingpressurizedbyasinglesetofports.Thisfeatureallowsthegrippingofoffcenterparts.

GRR02 NON-SYNCHRONIZED

Thismodeladdstheabilitytoindependentlypowereachjaw.Thejawsarenotsynchronizedandmaybecycledatdifferingratesorpressures.

GRR22NON-SYNCHRONIZED AND INDEPENDENTLY POWERED 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

GRR


ATxxx

ANxxx

25.1 mm

APxxxARxxxAUxxxAQxxx

Ø 1.48 in[37.6 mm]

JAW B JAW A

JAW B JAW A

OPTIONS: SERIES GRR GRIPPERS

These options provide corrosion resistant jaw travel stop tubes for use in limiting jaw travel on open or close. The travel limiting stop tubes provide a repeatable positive stop.

Model GRR12 requires identical stops for both jaws while traveling in the same direction. Synchronized units may only use the ANxxx and ATxxx options. Non-synchronized models (GRR02 & GRR22) may use the APxxx, ARxxx, AUxxx, or AQxxx in any

ANxxx

AvAilAble 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 or ATxxx options.

Travel limiting tubes are available in lengths from 3.0 to 99.9 mm in .1 mm increments. See Note 2.

For adjustable jaw travel, see travel adjustment collars on page 4-145.

APxxx

AvAilAble oN GRR02 & GRR22 MoDelS oNly

ARxxx AUxxx AQxxxeXAMPle:

-ATxxx stop with 25.1 mm length = -AT251

NoTeS:1) Options’ xxx are in .1 mm increments with implied

decimal point one place from right, and must be 3 digits long with values ranging between 03.0 and 99.9 mm.

2) ANxxx and ATxxx or APxxx and ARxxx or AUxxx and AQxxxx option combinations or singularly can not add up to more than 1/2 the ordered jaw travel.

example for 150 mm jaw travel: ANxxxx + ATxxx ≤ 75 APxxxx + ARxxx ≤ 75 AUxxxx + AQxxx ≤ 75

All dimensions are reference only unless specifically toleranced.

GRR


PHD’sRodlokisidealforlockingthejawswhileinastatic/stationaryposition.WhenthepressureisremovedfromtheportoftheRodlok,themechanismwillgripontheexternalguideshaftandpreventthejawsfrommoving.Theloadsareheldindefinitelywithoutpower.Rodlokperformanceisapplicationandenvironmentsensitive.CleanlinessofshaftorRodlokwillalsoaffectperformance.

THE RODLOK IS NOT DESIGNED TO BE USED AS A PERSONNEL SAFETY DEVICE.

Option-H47providestheRodlokpre-assembledtothegripper.TheportoftheRodlokdevicewillbeinposition5.

H47 RODLOK

Option-H47maybepurchasedwiththe-Z1(corrosionresistant)optionand-V1(fluidcompatibility)option.HowevertheRodlokandRodlokrodDONOTPROVIDEcorrosionresistanceorfluidcompatibility.

OPERATING PRESSURE: TheoperatingpressureforthelockingdeviceisdifferentthantheoperatingpressureforthegripperwiththeRodlokattached.ThelockingdeviceoftheRodlokisdesignedwithanoperatingpressurerangeof60psiminimumto150psimaximum[4to10bar].TheSeriesGRRGripperwithaRodlokattachedhasanoperatingpressurerangeof30psiminimumto120psimaximum[2to8bar].

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


GRR



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. STATIC LOCKINGFORCE MAY BE INCREASED ON SYNCHRONIZED UNITS, GRR12, WITH THE ADDITIONOF A SECOND RODLOK. SEE KITS BELOW.

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.

mm439.888.948.34.220.0125.03.627.230.9133.556.141.991.9115.6158.3

1.79 kg3.58 kg100.627.1

LETTERDIMB1B2L1L2L3L4L5L6L7L8L9L10L11L12L13L14L15L16L17

in17.3143.5001.900.165.7874.920.1411.0701.2175.2542.2091.1503.6184.5506.2343.95 lb7.90 lb3.9601.06

GRRx2-x-63 X 150

MODEL 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

in21.2513.5001.900.165.7875.900.1411.0701.2175.2542.2091.1503.6184.5506.2344.22 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 - RODLOKTheSeriesGRRis-H47readyasstandard.Thefollowing

itemsmaybeaddedtotheDesign2[6]GRRormaybeusedasreplacementparts.Notethatthekitsbelowareforonejawonly.


GRR



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-63

MODEL NUMBER

+ VDC (PIN 1)

SIGNAL OUT (PIN 2)

GROUND (PIN 3)

CONNECTORINTERFACE

3mm HEX SIZE

1

MALE QUICK CONNECT

SP1

J8

Ø 1.500 [Ø 38.1] MIN HOLETO PROVIDE CLEARANCE FORPOSITION SENSOR

SP3

[M8 X 1]THREAD

Ø SP2

3

5

2

6

4

RESOLUTIONResolutionofsensorinstalledintogripperis0.001inch

[0.025mm]inconjunctionwithananalogcontrolmodulehaving15bitsorgreaterinputresolution.

REPEATABILITYMaximumvariationofreportedgripdimensionwhenrepeatedly

grippingthesameobjectis±0.002in[±0.05mm].

ENVIRONMENTALTemperatureLimits:-20to180°F[-28to82°C]

IP67compliantwheninstalledingripper.

ELECTRICALSupplyVoltage:15-30VDC,reversepolarityprotectedOutputVoltage:0-10VDC,short-circuitprotectedOutputConstant:663±1mV/inch[26.10±0.04mV/mm]of gripchangeOutputVoltageOffset:<10mVtypicalOutputLinearity:±0.3%


Providesaneasytouse,economical,fullyintegratedsolutiontocontinuouslymonitorthegrippositionofthejaws.Thesensormountsdirectlytothegrippermakingfieldinstallationorreplacementquickandeasy.The3-pinquick-connectconnectorprovidesa0-10voltanalogoutputcompatiblewithstandardanalogcontrolmodules.ConsultPHDforusewith-V1option.

Hasthesamefunctionalperformanceasthe-SPP99option,exceptitismechanicallycoupledandmust be specified when the order is placed.Thisoptioncannotbeaddedtotheunitatalatertime.

SPP99

STT99

JAW POSITION SENSOR

COUPLED JAW POSITION SENSOR

GRR


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]

� .402[10.2]

.689[19.3]

BLACK CONNECTORPIN 1WIRE COLORBROWN

SET POINT MODULE PART NO. DESCRIPTION 9800-01-0300 4.5-24VDC,SinkTypeOutput 9800-01-0400 4.5-24VDC,SourceTypeOutput

SeeSwitchesandSensorssectioninmaincatalogformoreinformation.


SPP99 JAW POSITION SENSOR SeriesGRRissupplied-SPP99ready.Kitbelowprovidesthe

samejawpositionsensorandmountinghardwaresuppliedpre-assembledwiththe-SPP99option.Seeoptiondetailsforfurtherinformation.

STT99 JAW POSITION SENSOR Kitsbelowprovidethesamejawpositionsensorandmounting

hardwaresuppliedpre-assembledwiththe-STT99option.Seeoptiondetailsforfurtherinformation.

CORDSETProvidesacordsetwithfemalequickconnectandad-

ditionalcable.PerfectforusewiththeSetPointModule.

SET POINT MODULESetPointModuleconvertsanalogoutputfromsensorinto

discreteon-offoutputs.Moduleprovidesfourindependentlyadjustablesetpointsthroughoutjawtravel.AvailablewithNPN(sink)orPNP(source)outputs.

SPP99 JAW POSITION SENSOR KITS


SensorReplacementKit 74209-31 74209-32Kitincludes1jawpositionsensor,2mountingscrews,1sealand1couplingseal

REPLACEMENT STT99 JAW POSITION SENSOR KITS


SensorReplacementKit 84404-11 84404-12Kitincludes1jawpositionsensor,2mountingscrews,1sealandspring

GRR



PROXIMITY SWITCHES - EXTERNALThisaccessoryprovidesfortheexternalmountingof8or

12mmthreadedroundmetalsensinginductiveproximityswitches.Multipleswitchesmaybemountedusingmultiplebrackets.Proximityswitches,targets,andmountingbracketsareorderedseparately.SeetheSwitchesandSensorssectionforcompleteswitchspecifications.

NOTE:TargetandbracketkitsdonotinterchangewithSeries1[5]GRRGrippers.

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) 2 meter cablePNP (Source) 2 meter cable

8mm THREADED INDUCTIVE PROXIMITY SWITCHES

PART NUMBER15561-00115561-00215561-003

DESCRIPTIONNPN (Sink) 3 meter cablePNP (Source) 3 meter cableVAC Solid State, 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


8 mm & 12 mm THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITSSTANDARD CORROSION RESISTANT74994-31 74994-32

Kitincludes1proximityswitchtargetand2targetmountingscrews

THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS8 mm


8 mm SWITCH12 mm


12 mm SWITCH74992-31 74992-32 74993-31 74993-32Kitincludes1proximityswitchmountingbracket,1mountingnut,and1mountingscrew

8 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION51422-005-02 NPN(Sink),2metercable51422-006-02 PNP(Source),2metercable

12 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION15561-001 NPN(Sink),2metercable15561-002 PNP(Source),2metercable15561-003 VACSolidState,3metercable

GRR



TRAVEL ADJUSTMENT COLLARSThisaccessoryprovidestraveladjustmentstopcollarsforuse

inlimitingjawtravelonopenorclose.Thetraveladjustmentstopcollarsprovideinfiniteadjustment.Synchronizedmodel(GRR12)requirestraveladjustmentcollarstobeidenticallylocatedforbothjaws,inthesamedirectionoftravel.Non-synchronizedmodels(GRR02&GRR22)donotrequireidenticalstoplocationsforeachjaw.Fornon-adjustablejawtravellimiting,seeoptionsANxxx,ATxxx,APxxx,ARxxxx,AUxxx,andAQxxxonpage4-139.

DIMLETTER

B2SA1SA2SA3SA4

in3.500.6301.7402.900.035

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 CONFIGURATION FOR GRR02, GRR12, OR GRR22, SHOWN WITH STROKE LIMITED ON OPEN

POSSIBLE CONFIGURATION FOR GRR22, SHOWN WITH ONE JAW RESTRICTED

Kitincludes2strokeadjustmentcollarsand4mountingscrews.


GRR


GRIPPER FOR HIGH FORCE AND HIGH JAW LOADS

TheSeriesGRRGripperisdesignedtowithstandexternalforceswhenmovingheavypartsquickly.Theparalleldesignprovidesforautomaticcenteringofparts,whilethelongjawtravelmakesitflexibleforawidevarietyofapplications.Inthisapplication,twoSeriesGRRGrippersaremountedonafixtureattachedtoarobot.Therobotwilltransferrimsfromanin-feedconveyorstationtoandfromthreeseparatemachiningprocesses.Thenthefinishedrimisplacedonaconveyor,takingitfromthemachiningarea.

APPliCAtioN eXAMPleS: SeRieS gRR gRiPPeRS

GRIPPER FOR LONG TRAVEL, HIGH FORCE CAPABILITY

TheSeriesGRRGripperisdesignedforlongstroke,highforceapplications.Thesynchronizedparalleljawmotionautomaticallycentersitemsforoperationssuchassorting.Thelongstrokecompensatesforitemsofvaryingsizeorposition.

grr - delta equipement · • narrow width and a wide range of available jaw travels. • compact...

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