INFORMATION SHEET: SERIES GRC PARALLEL GRIPPERS

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Bertram Kelley
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1 INFORMATION SHEET: SERIES GRC PARALLEL S IMPORTANT INFORMATION DO NOT DISCARD! Use this formation sheet to assist with gripper stallation and setup. File with matenance or mache documentation. TO ORDER SPECIFY: Product Type, Series, Type, Style, Bore Size, Options, Design No., and Seals. PRODUCT TYPE G - Gripper SERIES R - Regular Duty TYPE C - Rotary Parallel BORE SIZE (2 ) Bore - 1 (0 ) Bore (0 ) Bore -.00 (7 ) Bore DESIGN OPTIONS SEALS 1 - Buna-N (Standard) 2 - Flouroelastomer G R C IMPERIAL 1 - Full Mountg 2 - Full Mountg - Bottom Mount - Bottom Mount MODEL GRCxx, x, x STYLE METRIC - Full Mountg - Full Mountg 7 - Bottom Mount 8 - Bottom Mount INTERNAL PROXIMITY SWITCHES PROXIMITY SWITCH MODEL MODEL/JAW OPTION 1 - Standard, Raised Jaw 2 - SHURGRIP, Raised Jaw - Standard, Flat Jaw - SHURGRIP, Flat Jaw SHURGRIP LICENSED UNDER U.S. PATENT NOTES: 1) Available on full mountg style only. 2) See Switch Mountg Kits on options pages PHD s ma catalog. ) See Switches section of PHD s ma catalog for switch formation. ) Sprg Assist Open option not available with -2 or - sensor options. Round NPN (Sk) Round PNP (Source) 8 Threaded NPN (Sk) 8 Threaded PNP (Source) SERIES 0 MINIATURE HALL EFFECT SWITCHES PART NPN (Sk).-2 VDC, 2 meter cable PNP (Source).-2 VDC, 2 meter cable NPN (Sk).-2 VDC, Quick Connect PNP (Source).-2 VDC, Quick Connect CORDSETS (For Series 0 Switches with Quick Connect) PART SENSOR OPTION 0 - None 2 - Hall Effect Switch Ready (For Series 0 Switches) - Reed Switch Ready (For Series 200 Switches) - Internal Proximity Switch Ready SHURGRIP only - 12 External Proximity Switch Ready (See Notes 1 & 2) Switches must be ordered separately. 2 meter Cordset with Quick Connect meter Cordset with Quick Connect OPTION 0 - None MEDIUM DUTY - Sprg Assist Closed - Sprg Assist Open HEAVY DUTY - Sprg Assist Closed - Sprg Assist Open (See Notes 1 & ) NOTE: 12 Threaded Proximity Switches are customer supplied. PART SERIES 200 REED SWITCH NPN (Sk) or PNP (Source).-2 VDC PHD UNLIMITED A model number ML-xxxxxx dicates the unit is a unique solution. Contact your local distributor or PHD, Inc. for a complete product description. 1

2 ENGINEERING DATA: SERIES GRC PARALLEL S GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 & MIN TOTAL JAW TRAVEL TOTAL GRIP FORCE AT 87 psi [ bar] (FLAT JAWS) SPECIFICATIONS (RAISED JAWS) CLOSE OR OPEN TIME 87 psi [ bar] sec DISPLACE- MENT cm GRIP FORCE FACTOR (GF) IMPERIAL METRIC GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 & FORCE (SF) HEAVY CLOSE OR OPEN TIME 87 psi [ bar] seconds AGAINST.1.1 WITH.1.1 ONLY FORCE (SF) lb kg MEDIUM CLOSE OR OPEN TIME 87 psi [ bar] seconds AGAINST WITH ONLY.1.1 SEALS AND FLUIDS Buna-N and Nitrile seals are standard on all Series GRC Parallel Grippers. Piston seals are Quad-X type and pion shaft seals are O-rgs. Both are compatible with standard paraff-based lubrication oils used for pneumatic cylders. For compatibility with other fluids, consult PHD. TEMPERATURE LIMITS Seals and gripper mechanism are designed for use temperatures from -20 to 180 F [-0 to 82 C]. For higher temperatures, consult PHD. LIFE EXPECTANCY All units with Buna-N and Nitrile seals have been tested to million cycles with mimal seal wear and mimal backlash. Viton seals reduce life of product. Consult PHD. LUBRICATION Seals and gripper mechanism are prelubricated at the factory for service under normal conditions. MATERIAL Parallel gripper body is made of hard coated alumum. Jaws and gripper mechanism are manufactured from hardened steel. INTERNAL S Internal sprgs are tended to assist the gripper and add grip force one direction. They can be used to open or close the gripper without pneumatic pressure or to mata sprg grip force if pressure is lost. Sprg life excess of million cycles can be expected. SPECIAL S Grippers for special applications, severe duty, or constructed of special materials are available. Consult PHD. REPEATABILITY Grip repeatability is with ch [0 ] of origal centered position. Total clearance around the parallel jaw will not exceed the followg figures: A = ch [0 ] B = ch [0 ] C = 0.00 ch [0.1 ] A B C 2

3 ENGINEERING DATA: SERIES GRC PARALLEL S GRIP FORCE CALCULATION EQUATIONS: IMPERIAL: Total Grip Force [lb] = (Pressure [psi] x Gf) x Jaw Position Factor x Toolg Length Factor Total Grip Force With Sprgs [lb] = ((Pressure [psi] x Gf) ± Sf [lb]) x Jaw Position Factor x Toolg Length Factor METRIC: Total Grip Force [N] = (Pressure [bar] x Gf) x Jaw Position Factor x Toolg Length Factor Total Grip Force With Sprgs [N] = ((Pressure [bar] x Gf) ± Sf [N]) x Jaw Position Factor x Toolg Length Factor JAW POSITION FACTOR GRAPH The Series GRC Gripper mechanism creases grip force as the jaws move away from midposition toward open or closed position. Toolg can be designed to take advantage of the higher forces available when the jaws are close to the end positions. The chart shows how force creases as the jaws move toward the end positions. The grip forces should be multiplied by the jaw position factor for an accurate grip force calculation. JAW POSITION FACTOR JAW POSITION FACTOR BASED ON DIMENSION A ACROSS JAWS A 1.0 MODEL GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 & GRCx1 & GRCx2 &.8 [119.0] 0.78 [121.].88 [12.1] 7 DIMENSION A ches [] [12.] [129.2] [11.7] [1.] [1.8] [19.] [11.9] [1.] 7.7 [17.] [11.] [1.] [19.2] [17.1] [177.0] [180.9] [18.8] [188.7] [192.] [19.] [191.0] [19.1] [201.2] [20.] [211.] [21.] [221.] [22.7] [21.8] [2.9] [22.0] [22.0] [29.8] [277.] [28.] [29.2] [01.0] [08.8] [1.] [2.] [2.2] [0.0] Design toolg so that the grip pot is as close to the cover surface as possible. When the grip pot moves away, jaw friction creases, which decreases grip force. The Gf formation given chart above is for zero toolg length (cover surface). The graph shows how force decreases as the grip pot moves away from the cover surface. F/2 PART F=TOTAL GRIP FORCE DISTANCE FROM COVER SURFACE F/ [2] 2 [1] GRCxx [7] [2] [127] GRCxx [12] 7 [178] TOOLING LENGTH ches [] 8 [20] 9 [229] [2] RAISED JAW TOOLING The boss on raised jaws (dimensions R8 and R) are held to a close tolerance. These surfaces can be used as a means of orientg and precisely keyg the toolg to the gripper jaws. Dowel p holes the jaws can also be used for precise toolg location. See PHD s Ma Catalog for specific jaw dimensions. ON-CENTER TOOLING OFF-CENTER TOOLING R8 MAX R MAX R MAX DOWEL PIN HOLES R1.0 [] R1.0 []

4 ENGINEERING DATA: SERIES GRC PARALLEL S IMPORTANT: TO AVOID DAMAGE AT START-UP, READ INSTRUCTIONS CAREFULLY! CAUTION: External flow controls should be used to control speed of jaw travel. FLAT JAW TOOLING Special attention should be paid to the distance the fasteners extend through the flat jaw. If they extend through more than G dimension and come contact with the body, damage to the gripper cover or jaw may occur. Toolg counterbores, fastener length and tolerances should be specified so that the fastener fully engages the jaw and nomally extends through 0 ch [1 ] with a tolerance of ± 0.0 ch [± 0.7 ]. This assures a distance of G dimension is never reached. The flat jaw provides two threads for mountg toolg and a precision hole closely located from the end of the jaw. Customers can key toolg usg the end of the jaw and precision hole to provide squareness and location. See PHD s ma catalog for maximum recoended toolg dimensions (dimensions F8 and F). NOTES: 1. MOUNTING SCREWS MUST PROTRUDE PAST BOTTOM OF JAW TO ENSURE MAXIMUM THREAD ENGAGEMENT 2. MOUNTING SCREWS MUST NOT EXCEED RECOMMENDED DEPTH OF ENGAGEMENT OR COME IN CONTACT WITH BOTTOM OF BODY F12 G MIN LETTER DIM. F12 G MIN MODEL NUMBER GRCxx GRCxx ±.00 SEE NOTE 1 & 2 MAX. ALLOWABLE FORCES & MOMENTS ON JAWS MODEL GRCxx GRCxx lb Fa N CLOSE Mx -m OPEN Mx -lb My -lb Mz -lb Fa: Total for both jaws Mx: Per jaw, with moments from cover surface My: Per jaw, with moments from center of gripper Mz: Per jaw, with moments from cover surface MAX. TOOLING LENGTH TO CENTER OF GRIP POINT AT 87 PSI MODEL GRCxx GRCxx CLOSE ches ches OPEN Mz COVER SURFACE Mx Fa My PART MAXIMUM TOOLING LENGTH OPTIONS (Full mountg style required) Sprgs can mata sprg grip force if air pressure is lost or crease grip force one direction when used with air pressure. They can open or close the gripper without air pressure. Sprg life excess of million cycles can be expected. For mimum operatg pressures and sprg forces, see PHD s ma catalog. HEX TO BE USED FOR REPLACEMENT OR MAINTENANCE ONLY WARNING: DO NOT REMOVE HOUSING MOUNTING SCREWS.

5 SHURGRIP INFORMATION: SERIES GRC PARALLEL S SHURGRIP VERSION The SHURGRIP version of the PHD Series GRC Gripper is tended to mata a friction lock to restra jaw movement the event of loss or removal of air pressure. This is accomplished through the use of an ternal friction lock clutch. Repeated vibration or shock after loss or removal of air pressure may cause the jaws to open slightly. Care must be taken to design the toolg attached to the gripper jaws to encapsulate the part. The toolg should also have a slight sprg or deflection action to reta tension on the gripper mechanism. PHD is not responsible for lack of part retention resultg from improper toolg or matenance of the gripper. Shurgrip licensed under U.S. Patent No MANUAL JAW OPERATION (SHURGRIP ONLY) Rotatg the hex the rear of gripper moves jaws open or closed for easy switch setup and toolg adjustments without operatg the valve. HEX WRENCH (MANUAL OVERRIDE) WRENCH NOT SUPPLIED LETTER DIM. HEX SIZE /2 MODEL NUMBER GRCxx GRCxx.0 /2.0 /1 8.0 /1 8.0 SHURGRIP TOOLING Care must be taken to design the toolg to encapsulate the part beg grasped. On SHURGRIP versions, the toolg should have a slight sprg or deflection action to reta tension on the gripper mechanism upon loss of air supply. PHD is not responsible for lack of part retention resultg from improper toolg or matenance of the gripper.

2-jaw self-centering pneumatic parallel gripper (series SX)

SX 2-jaw self-centering pneumatic parallel gripper (series SX) Double acting (normally closed on request). High gripping force. Protection class: IP67. Double O-Ring sealing on the columns. Suitable for