Rotary ctuated ir Gripper ( Finger) (3 Finger) MHR/MDHR, MHR3/MDHR3 High Precision - Repeatability ±.1mm Parallel opening and closing mechanism utilizing a cross roller guide produces smooth operation without play, with high precision and long life. pplicable for Clean Room Class Cross roller movement has minimal friction and prevents dust generation. used for finger, guide and cross roller section inhibits rust. Vacuum at the relief port will remove interior dust for clean room applications. all bearing Rotary actuator Universal Mounting xial side mounting ateral side mounting Vertical side mounting Guide holder Cross roller guide all bearing MDHR MDHR3 Possible to mount solid state with indicator light D-F9. Easy to locate to optimum set point..3-1
High Rigidity Fingers operate smoothly as the holder maintains the guide from the outside and prevents finger displacement. ow Profile Compact design even during actuation. Connection Port on Sides port port Internal/External Holding Capability MHZ MHZJ MHQ MH MHR MHK MHS MHC MHT MHY Standard Model Rotary actuated air gripper finger 3 finger MHR MDHR MHR3 MDHR3 (Nominal size) 15 3 uto P..3-3 to P..3-16 P..3-17 to P..3-5 MHW MRHQ uto.3-
Rotary ctuated ir Gripper Series MHR/MDHR Finger/ø, ø15, ø, ø3 How to Order Without auto MHR R With auto (uilt-in magnet) MDHR R F9N S With magnet (For auto ) Number of fingers fingers Number of auto es S 1 Nominal size 15 3 Connection port R: ody side Ports E: xial side Ports Type of auto Without auto uto specifications oad voltage uto model no. Special Type Electrical Wiring function entry (Output) DC C Perpendicular In-line Solid state Grommet Indicator light 3-Wire (NPN) 3-Wire (PNP) 4V 5V 1V -Wire 1V F9V F9 ead wire length:.5m... (Example) F9V 3m... (Example) F9V Refer to p..11-1 for auto specifications. F9NV F9PV F9N F9P ead wire length (m).5 ( ) 3 () pplicable load IC Relay, PC.3-3
Finger ir Gripper Series MHR/MDHR Model/Specifications Nominal size ction Holding force (N) External hold (Effective value) (1) at.5mpa Internal hold Finger closing width (mm) Opening/closing stroke Finger opening width (mm) (oth sides) Stroke (mm) Weight (g) () Connection port Repeatability Fluid 15 3 Double acting 1 1 16 6 (95) 4 5 14 8 18(175) 33 34 16 8 1 39(38) 58 59 19 37 18 76(74) M5 X.8 ±.1mm ir Operating pressure. to.6mpa.15 to.6mpa Symbol mbient and fluid temperature Max. operating frequency ubrication to 6 o C 18c.p.m Non-lube Note 1) Refer to p..3-6 [Effective Holding Force] for details of holding force at each holding point. Value of effective holding force is measured at the middle of opening/closing stroke. Note ) ( ) Value shows MDHR weight, but it does not include auto weight. Caution e sure to read before handling. Refer to p.- and -1 for Safety Instructions and common precautions on the products mentioned in this catalog, and refer to p..-3 and.-4 for precautions on every series. MHZ MHZJ MHQ MH MHR MHK MHS MHC MHT MHY MHW MRHQ uto.3-4
Series MHR/MDHR Holding Point Proper holding points should be selected in accordance with the operating pressure. The distance to the holding point and the overhang distance H should be within the limit range shown in the graph on the right. When the work holding point is out of the limit range, the unbalanced load applied to the finger and the guide section may cause excessive play in fingers and have an adverse effect on the gripper life. External hold imitation of holding point: External hold/internal hold MHR-/MDHR- MHR-/MDHR- Overhang distance H (mm) 5 4 3 6 5 4 3.6MPa.5MPa Pressure.4MPa.3MPa.MPa Overhang distance H (mm).3mpa.4mpa.5mpa.6mpa Pressure.MPa 3 4 5 3 4 5 6 H MHR-15/MDHR-15 5 MHR-3/MDHR-3 8 Holding point Internal hold : Distance to the holding point H: Overhang distance Overhang distance H (mm) 4 3.6MPa.4MPa.5MPa Pressure.3MPa.MPa Overhang distance H (mm) 7 6 5 4 3.3MPa.4MPa.5MPa.6MPa Pressure.MPa 3 4 5 3 4 5 6 7 8 H Holding point.3-5
Finger ir Gripper Series MHR/MDHR Effective Holding Force Guidelines for the selection of the gripper with respect to component weight Selection of the correct model depends upon the component weight, the coefficient of friction between the finger attachment and the component, and their respective configurations. model should be selected with a holding force of to times that of the component weight. If high accelleration, decelleration or impact forces are encountered during motion a further margin of safety should be considered. External hold External hold MHR-/MDHR- Holding force (N) 15 5 Pressure.6MPa.5MPa.4MPa.3MPa.MPa Internal hold MHR-/MDHR- Holding force (N) Pressure.6MPa 15.5MPa.4MPa.3MPa 5.MPa 3 4 5 3 4 5 MHR-15/MDHR-15 MHR-15/MDHR-15 Internal hold 3 Pressure.6MPa 3 Pressure.6MPa Holding force (N).5MPa.4MPa.3MPa.MPa Holding force (N).5MPa.4MPa.3MPa.MPa MHZ MHZJ MHQ : Holding point length mm Indication of effective holding force The holding force shown in the tables represents the holding force of one finger when all fingers and attachments are in contact with the work. (F: Thrust of one finger) 3 4 5 MHR-/MDHR- Holding force (N) 5 Pressure.6MPa 4.5MPa 3.4MPa.3MPa.MPa 3 4 5 6 7 3 4 5 MHR-/MDHR- Holding force (N) 5 Pressure.6MPa 4.5MPa 3.4MPa.3MPa.MPa 3 4 5 6 7 MH MHR MHK MHS MHC MHT MHY MHW F F MHR-3/MDHR-3 Holding force (N) 8 Pressure.6MPa 7 6.5MPa 5.4MPa 4.3MPa 3.MPa MHR-3/MDHR-3 Holding force (N) 8 Pressure.6MPa 7.5MPa 6 5.4MPa 4.3MPa 3.MPa MRHQ uto 3 5 7 9 3 5 7 9.3-6
Series MHR/MDHR Construction MHR q!4!3 o @!1!9! r w e i!5! u y t MDHR q!!4 o!3 @ w!9!1 i!8!6 e i!7!5 u r! t y Component Parts Component Parts No. q w e r t y u i o! Description ody daptor ody Guide holder Cam Finger ass'y Guide Pin Pin roller Vane shaft Shaft bolt Material Note luminum alloy nodized luminum alloy nodized Cold rolled steel Nitriding Heat treatment Heat treatment Heat treatment Carbon steel Electroless nickel plated Nitriding M HR-3 is carbon steel Chrome molybdenum steel Zinc chrome No.!1!!3!4!5!6!7!8!9 @ Description Stopper ack-up ring Hexagon socket head bolt earing Cylindrical roller Magnet Magnet holder Roller O ring Stopper packing Material Resin plate High carbon chrome steel Magnetic material luminum alloy NR NR Note nodized Nitriding.3-7
Finger ir Gripper Series MHR/MDHR Method for Setting uto Switch To set the auto, insert the auto into the groove of the air gripper from the direction indicated in the following drawing. fter setting the position, tighten the attached mounting set screw with a straight bladed watchmakers screwdriver. uto Switch Hysteresis Please refer to the table as a guide when setting auto positions. Model MDHR- MDHR-15 MDHR- MDHR-3 Hysteresis(Max.value)mm.6.9 uto MDHR Straight bladed watchmakers screwdriver Switch set screw (M.5 X 4l) ø5 to 6 Note) Use a watchmakers screwdriver with a grip diameter of 5 to 6mm to tighten the auto set screw. Use a tightening torque of.5 to.1n. m. s a rough guide, thighten the screw an additional 9 o after feeling a tight resistance. Protrusion of uto Switch from Edge of ody The maximum protrusion of an auto (when fingers are fully open) from the edge of the body is shown in the table below. Use the table as a guideline for mounting. MDHR-, 15 H Switch operating position(on) Hysteresis Switch reset position(off) MDHR-, 3 H MHZ MHZJ MHQ MH MHR MHK MHS When auto D-F9N, D-F9P, D-F9 is used. Max. protrusion of auto from edge of body:, H ir gripper model no. MDHR- MDHR-15 uto model no. H H D-F9N.6 When auto D-F9NV, D-F9PV, D-F9V is used. D-F9P, D-F9 7.1.6 Unit: mm D-F9NV, D-F9PV, D-F9V.6 6.8 6.8 When auto D-F9NV, D-F9PV, D-F99V is used. Max.protrusion of auto from edge of body: H MDHR- 6.8 MDHR-3 6.8 Unit: mm The auto will not protrude in the case of D-F9N, D-F9P, D-F9. MHC MHT MHY MHW MRHQ uto.3-8
Series MHR/MDHR ø Without uto Switch: MHR-R 3- thread depth 6 P.C.D4 (Mounting thread) 33.4 3 MHR-E port position ø36 1 8.5 1 3 C 9.5 5 5 +. 3-3 depth 6 ø9h9 -.36 ø9 6- thread depth 6 5 15 3 1 14.5 7 (35) ø3 -. ø3 -. Open: 16 Closed: 8 -.5 - thread depth 6 (Thread for mounting attachment) 1 1 SMH3, #5 4 4 4 4.3-9
Finger ir Gripper Series MHR/MDHR With uto Switch (uilt-in magnet): MDHR-R 3- thread depth 6 P.C.D4 (Mounting thread) 33.4 3 MDHR-E port position ø36 8.5 1 1 3 C 9.5 ø9h9 -.36 5 ø9 5 4.7 9.6 3 1 ø3 -. ø3 -. Open: 16 Closed: - thread depth 6 (Thread for mounting attachment) (35) uto mounting groove -3 4.7 3 13.4 +. 3-3 depth 6 6- thread depth 6 -ø4. Regardless of auto installation, some body dimensions are different. 8 -.5 8 15.5 Dimensional differences between MHR and MDHR MHZ MHZJ MHQ MH MHR MHK MHS MHC MHT MHY MHW MRHQ uto 1 1 MHR MDHR Model R E R E 5 4.7 14.5 14.5 15.5 15.5 4 4 4 4.3-
Series MHR/MDHR ø15 Without uto Switch: MHR-15R 3- thread depth 6 P.C.D9 (Mounting thread) 44 4 MHR-15E port position ø45 1 o 1 11 36 C 5 o 5 o 6- thread depth 6 ø1h9 -.43 ø34 +. 3-3 depth 6 19.5 41.5 1 17 5 1.5 (45) 8 ø3.5 -.3 ø3.5 -.3 Open: Closed: 14 8 -.5 - thread depth 6 (Thread for mounting attachment) 15 15 6 5 5 6 SMH3, #6.3-11
Finger ir Gripper Series MHR/MDHR With uto Switch (uilt-in magnet): MDHR-15R 3- thread depth 6 P.C.D9 (Mounting thread) 44 4 MDHR-15E port position ø45 1 o 1 o 11 36 C 5 o 5 o MHZ 6- thread depth 6 MHZJ ø1h9 -.43 ø34 1.5 uto mounting groove +. 3-3 depth 6 MHQ MH MHR 5 15.7 41.5 (45) -3 4.7 3.5 1 8 MHK MHS ø3.5 -.3 ø3.5 -.3 Open: Closed: 14 -ø4. 15.5 8 -.5 17 MHC MHT MHY MHW - thread depth 6 (Thread for mounting attachment) 15 15 MRHQ uto 6 5 5 6.3-1
Series MHR/MDHR ø Without uto Switch: MHR-R 57 54 3-M4 X.7 thread depth 8 P.C.D36 (Mounting thread) MHR-E port position Ø6 1 o 14 1 o 45 C M5 X.8 13 M5 X.8 M5 X.8 ø14h9 -.43 5 o ø4 5 o M5 X.8 6-M4 X.7 thread depth 8 +. 3-4 depth 8 18 1 55.5 3 (6) 8.5 9 1.5 ø4 -.3 ø4 -.3 -.5 Open: 8 Closed: 16 -M4 X.7 thread depth 8 (Thread for mounting attachment) 18.5 18.5.3-13 SMH3, #7 5.5 7 7 5.5
Finger ir Gripper Series MHR/MDHR With uto Switch (uilt-in magnet): MDHR-R 57 54 3-M4 X.7 thread depth 8 P.C.D36 (Mounting thread) MDHR-E port position 1 o ø6 14 1 o 45 C M5 X.8 13 M5 X.8 M5 X.8 5 o 5 o M5 X.8 MHZ MHZJ ø14h9 -.43 ø4 1.5 uto mounting groove 6-M4 X.7 thread depth 8 +. 3-4 depth 8 MHQ MH MHR 9 MHK 4.6 55.5 (6) -3 4.7 3.4 18 MHS MHC -ø4. 1 MHT 3 ø4 -.3 ø4 -.3 Open: 8 Closed: 16 -.5 MHY MHW -M4 X.7 thread depth 8 (Thread for mounting attachment) 18.5 18.5 MRHQ uto 7 5.5 7 5.5.3-14
Series MHR/MDHR ø3 Without uto Switch: MHR-3R 76 73 3-M5 X.8 thread depth P.C.D43 (Mounting thread) MHR-3E port position ø8 1 1 15.5 54 C M5 X.8 14 M5 X.8 M5 X.8 M5 X.8 ø16h9 -.43 5 ø5 5 6-M5 X.8 thread depth 3-5 +. depth 38.5 7 (76) 5 11 ø5 -.3 ø5 -.3 Open: 37 Closed:19 4 1 -.5 -M5 X.8 thread depth (Thread for mounting attachment) 5 5 SMH3, #8 7 7.3-15
Finger ir Gripper Series MHR/MDHR With uto Switch (uilt-in magnet): MDHR-3R 76 73 3-M5 X.8 thread depth P.C.D43 (Mounting thread) MDHR-3E port position ø8 1 1 15.5 54 C M5 X.8 14 M5 X.8 M5 X.8 5 5 M5 X.8 MHZ ø16h9 -.43 ø5 uto mounting groove 6-M5 X.8 thread depth +. 3-5 depth MHZJ MHQ MH MHR MHK 35.8 7 (76) -3 4.7 3.8 -ø4. 11.5 5.5 MHS MHC MHT ø5 -.3 ø5 -.3 Open: 37 Closed: 19 4 4.5 1 -.5 MHY MHW -M5 X.8 thread depth (Thread for mounting attachment) 5 5 Dimensional differences between MHR and MDHR Regardless of auto installation, some body dimensions are different. MRHQ uto Model MHR-3 MDHR-3 5 5.5 7 7.3-16
Rotary ctuated ir Gripper Series MHR3/MDHR3 3 Finger/ø, ø15 How to Order Connecting port R ody side R:ody side Ports Without auto MHR 3 R With auto (uilt-in magnet) MDHR 3 R F9N S With magnet (For auto ) Number of fingers Number of auto es S 1 3 3 fingers Nominal size 15 Connecting port R: ody side Ports E: xial side Ports Type of auto Without auto uto specifications Type Special Electrical function entry Indicator light oad voltage uto model no. Wiring (Output) DC C Perpendicular In-line ead wire length (m).5 ( ) 3 () pplicable load Solid state Grommet With 3-wire (NPN) 3-wire (NPN) -wire 4V 5V 1V 1V F9NV F9PV F9V F9N F9P F9 IC Relay, PC ead wire length:.5m... (Example) F9V 3m... (Example) F9V Refer to p..11-1 for auto specifications..3-17
3 Finger ir Gripper Series MHR3/MDHR3 Symbol Model/Specifications Nominal size 15 ction Double acting External hold Holding force (N) (Effective value) (1) 7 13 at.5mpa Internal hold 6.5 1 Finger closing width (mm) 16 19 Opening/closing stroke Finger opening width (mm) 7 (Diameter) Stroke (mm) 6 8 Weight (g) () 1 (15) 5 (3) Connection port Repeatability ±.1mm Fluid ir Operating pressure. to.6 MPa.15 to.6 MPa mbient and fluid temperature to 6 o C Max. operating frequency 18c.p.m ubrication Non-lube Note 1) Refer to p..3-19 [Effective Holding Force] for details of holding force at each holding point. Valve of effective holding force is measured at the middle of opening/closing stroke. Note ) ( ) Value shows MDHR weight, but it does not include auto weight. Caution e sure to read before handling. Refer to p.- and -1 for Safety Instructions and common precautions on the products mentioned in this catalog, and refer to p..-3 and.-4 for precautions on every series. MHZ MHZJ MHQ MH MHR MHK MHS MHC MHT MHY MHW MRHQ uto.3-18
Series MHR3/MDHR3 Holding Point External hold imitation of holding: External hold/internal hold Work holding point should be within the holding point range: shown below, by operating pressure. MHR3-R/MDHR3- When the work holding point is out of the limiting range, the unbalanced load applied to the finger and the guide section may cause excessive play in fingers and have an adverse effect on the gripper life. MHR3-15R/MDHR3-15 Internal hold Holding point : Distance to the holding point Pressure (MPa).6.5.4.3. 3 4 5 Pressure (MPa) Effective Holding Force Guidelines for the selection of the gripper with respect to component weight Selection of the correct model depends upon the component weight, the coefficient of friction between the finger attachment and the component, and their respective configurations. model should be selected with a holding force of 7 to 14 times that of the component weight. If high accelleration, decelleration or impact forces are encountered during motion a further margin of safety should be considered. External hold External hold MHR3-R/MDHR3- Internal hold MHR3-R/MDHR3-.6.5.4.3..15 3 4 5 Holding point Holding force (N) Pressure.6MPa 8.5MPa 6.4MPa 4.3MPa.MPa Holding force (N) 8 Pressure.6MPa.5MPa 6.4MPa 4.3MPa.MPa 3 4 5 3 4 5 Internal hold MHR3-15R/MDHR3-15 MHR3-15R/MDHR3-15 : Holding point length mm Indication of effective holding force The holding force shown in the tables represents the holding force of one finger when all fingers and attachments are in contact F1 with the work. F1 Holding force (N) 15 5 Pressure.6MPa.5MPa.4MPa.3MPa.MPa 3 4 5 Holding force (N) 15 5 Pressure.6MPa.5MPa.4MPa.3MPa.MPa 3 4 5 F1.3-19
3 Finger ir Gripper Series MHR3/MDHR3 Construction MHR3 q!3 @1!1! w e!4 o @! r i!5!9 y u t MDHR3!4 q @!3!1 @1 w o e i MHZ!5 MHZJ r!7!6 t!!8! i!9 y u MHQ MH Component Parts No. q w e r t y u i o!!1 Description ody daptor body Guide holder Cam Finger ass'y Guide Pin Pin roller Vane shaft Joint bolt Stopper Material luminum alloy luminum alloy Cold rolled steel Carbon steel Chrome molybdenum steel Resin Note nodized nodized Nitriding Heat treatment Heat treatment Heat treatment Electroless nickel plated Nitriding Zinc chrome Component Parts No. Description! ack-up ring!3 Hexagon socket head bolt!4 earing!5 Cylindrical roller!6 Magnet!7 Magnet Holder!8 Roller!9 Cover @ O ring @1 Stopper packing Material plate High carbon chrome steel Magnetic material luminum alloy luminum alloy NR NR Note nodized Nitriding nodized MHR MHK MHS MHC MHT MHY MHW MRHQ uto.3-
Series MHR3/MDHR3 ø Without uto Switch: MHR3-R 3- thread depth 6 P.C.D4 (Mounting thread) 1 1 5 5 ø44 ø9 ø9h9 -.36 4 4 1 5 16 33.5 1 (36.5) ø3e8 -.14 -.8 Open: 11 Closed: 8 8 -.5 3- thread depth 6 (Thread for mounting attachment) MHR3-R... SMHR3, #1.3-1
3 Finger ir Gripper Series MHR3/MDHR3 With uto Switch (uilt-in magnet): MDHR3-R 17.5 3- thread depth 6 P.C.D4 (Mounting thread) MDHR3-E port position 1 1 4 5 5 C 8.5 9.5 ø9h9 -.36 15 ø44 ø9 +. 3-3 depth 6 6- thread depth 6 MHZ MHZJ MHQ 4.7 9.7 1 MH -3 3 5.8 MHR 4.7 -ø4. 33.5 (36.5) 19.5 MHK MHS ø3e8 -.14 -.8 uto mounting groove Open: 11 Closed: 8 MHC 8 -.5 MHT MHY 4 4 1 Dimensional differences between MHR and MDHR Regardless of auto installation, some body dimensions are different. MHW MRHQ uto 3- thread depth 6 (Thread for mounting attachment) Model MHR3-R MDHR3-R 5 4.7 SMDHR3, #1.3-
Series MHR3/MDHR3 ø15 Without uto Switch: MHR3-15R 3- thread depth 6 P.C.D9 (Mounting thread) 1 1 5 5 ø53 ø1h9 -.43 ø34 43.5 (47) 5 1.5 ø3.5e8 -. -.38 Open: 13.5 Closed: 9.5 8 -.5 5 6 15 3- thread depth 6 (Thread for mounting attachment) MHR3-15R... SMHR3, #.3-3
3 Finger ir Gripper Series MHR3/MDHR3 With uto Switch (uilt-in magnet): MDHR3-15R 1 4 3- thread depth 6 P.C.D9 (Mounting thread) MDHR3-15E port position 1 1 48 5 5 1.5 3-3 +. depth 6 6- thread depth 6 5 11 C ø1h9 -.43 ø53 ø34 18.5 MHZ MHZJ MHQ -ø4. 14.5 5.5 MH MHR 43.5 (47).5 MHK MHS ø3.5e8 -. -.38 1 Open: 13.5 Closed: 9.5 MHC uto mounting groove MHT MHY 8 -.5 MHW MRHQ 5 6 15 uto 3- thread depth 6 (Thread for mounting attachment) SMDHR3, #.3-4
Series MHR3/MDHR3 Method for Setting uto Switch To set the auto, insert the auto into the groove of the air gripper from the direction indicated in the following drawing. fter setting the position, tighten the attached mounting set screw with a straight bladed watchmakers screwdriver. uto Switch Hysteresis Please refer to the table as a guide when setting auto positions. Model MDHR3- MDHR3-15 Hysteresis (Max.value)mm.6 uto MDHR3 Straight bladed watchmakers screwdriver Switch set screw (M.5 X 4l) ø5 to 6 Note) Use a watchmakers screwdriver with a grip diameter of 5 to 6mm to tighten the auto set screw. Use a tightening torque of.5 to.1n m. s a rough guide, tighten the screw an additional 9 after feeling a tight resistance. Hysteresis Switch operating position(on) Switch return position(off) Protrusion of uto Switch from Edge of ody The maximum protrusion of an auto (when fingers are fully open) from the edge of the body is shown in the table below. Use the table as a guideline for mounting. MDHR3- H MDHR3-15 H When auto D-F9N, D-F9P, D-F9 is used. When auto D-F9NV, D-F9PV, D-F9V is used. When auto D-F9NV, D-F9PV, D-F9V is used. Max. protrusion of auto from edge of body:, H Unit: mm uto model no. D-F9N D-F9P, D-F9 D-F9NV, D-F9PV, D-F9V 3.1 H.3 Max. protrusion of auto from edge of body: H MDHR3-15 1.3 Unit: mm The auto will not protrude in the case of D-F9N, D-F9P, D-F9..3-5