Parallel Grippers- Low Profile Series

Transcription

1 RPL SERIES 1.9 Parallel Grippers- Low Profile Series Precision applications: Preloaded Dual-V roller bearings eliminate side play for excellent part position repeatability. Repeatable grip force: Low friction mechanism allows for consistent, repeatable gripping forces. To grip delicate parts, grip force can be easily altered by adjusting air pressure. Longer finger applications: Rigid design allows for longer gripper finger lengths to be used when compared to other grippers of equal weight & size. Non-synchronous motion: The unit can be made non-synchronous providing independent jaw motion allowing the gripper to pick or place at a point other than it s center. ounting Information: Gripper can be mounted and operated in any orientation Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range 5-1 psi.3-7 bar Cylinder Type Dual Double cting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, -position ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Body mounts with screws and locates with slip fit dowel pins for accuracy G Warning! Protect drive and bearing mechanism from falling debris when mounted upside down Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C Viton Seals (optional) - ~5 F -3 ~1 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* Field Repairable es Seal Repair Kits vailable es Fingers attach to jaws with screws and locate by keying pplication Restrictions Dirty or gritty environments achining operations generating chips Environments with loose particulate pplications where mechanism lubricant could cause contamination *ddition of lubrication will greatly increase service life See aintenance Section Please see back cover for DE-ST-CO Global Locations.

2 Pre-Load djustment Screws djustable preload screws allow for adjustment of preload on roller bearings Preloaded Bearings Roller bearings are preloaded for maximum support and zero side play Product Features Hard Coat nodize The body has hard-coat anodize 6 RC with Teflon impregnation Self Lubricating Seals Self lubricating dynamic seals (Buna-N only) One Piece Body One piece lightweight aluminum body Quality Components Internal components are made from hardened bearing & tool steels Dowel Holes Slip fit dowel pin holes in body ccessory ounting Bracket Sensors Reads position of jaw (Sold Separately- See How to Order Section for more info) Style-RPL Parallel Gripper Size -1 Style: RPL-1 RPL-1 Stroke:.5 in. 6.4 mm Grip Force: 6 lbs. 116 N Weight:.16 lbs..7 Kg See Page 1.9 Style-RPL Parallel Gripper Size - Style: RPL- RPL- Stroke:.5 in. 1.7 mm Grip Force: 6 lbs. 116 N Weight:. lbs..9 Kg RPL SERIES 1.91 High Grip Force High grip force with respect to weight due to extremely efficient drive mechanism Non-Synchronous Operation vailable Patented Bearing Support Dual-V roller bearings provide low friction rolling motion See Page 1.93 Operating Principle Sensor Body Equalizer agnet Standard Piston Drive Pin Cap Style-RPL Parallel Gripper Size -3 Style: RPL-3 RPL-3 Stroke:.75 in mm Grip Force: 36 lbs. 16 N Weight:.3 lbs..14 Kg See Page 1.94 Roller Way Roller Bearings & Cages Synchronizing Bar Jaw Style-RPL Parallel Gripper Size -4 Style: RPL-4 RPL-4 Stroke: 1. in. 5.4 mm Grip Force: 36 lbs. 16 N Weight:.38 lbs..17 Kg Exhaust Pressure Pressure Exhaust See Page 1.95 Open Position Closed Position Dual double acting opposed pistons, connected to both a jaw and a synchronizing bar by a drive pin, actuate in opposite directions. The synchronizing bars are connected to the equalizer which synchronizes the motion. Suitable for internal or external gripping. The synchronizing elements can be removed for non-synchronous operation. U.S. Patent # 5,59,359 Designed and manufactured in the US Please see back cover for DE-ST-CO Global Locations.

3 RPL SERIES 1.9 PRLLEL GRIPPER RPL-1 PRECISION DUL V LOW PROFILE SERIES.4.1 [5.69.3].75.5 JW OUNTING PTTERN (SHOWN IN OPEN POSITION) 4X #4-4 X.15 DP [3 X 4 DP].5 X #1-3 [5] IR PORTS (CLOSE) Specifications RPL-1 RPL-1 Total Rated Grip Force 1 psi, 7 bar 6 lbs. 116 N Stroke in. 6.4 mm Weight lbs..7 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in mm Displacement in 3..6 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position.5 [13]. [6].44 OPEN [8] #4-4 X.11 DP [3 X 3 DP] (SENSOR NTG HOLE, DO NOT EXCEED DEPTH) 1.31 [6.] [9.6] 1.75 [44] (OPEN) 1.5 [38] (CLOSED) 1.75 [44.5].75 VIEW - UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW X Ø.938 SF X.18 DP [Ø 3 SF X 4 DP].594 [15.9].75 4X #4-4 X.18 DP [3 X 4 DP] Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS 3 in. 75mm X BSIC ODEL RPL-1 -NS - NON-SNCHRONOUS ETRIC SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard V VITON SELS Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 5 lbs. N 15 lbs. 67 N aximum Compressive C 5 lbs. N 15 lbs. 67 N aximum oment x 3 in.-lbs. 3.4 Nm 1 in.-lbs. 1.1 Nm aximum oment y 4 in.-lbs. 4.5 Nm 1 in.-lbs. 1.4 Nm aximum oment z 3 in.-lbs. 3.4 Nm 1 in.-lbs. 1.1 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.3 [58].63 [16].36 [9] GNETO RESITIVE SENSOR OPTION.3 [8] X Please see back cover for DE-ST-CO Global Locations.

4 .4.1 [5.69.3].875 [.].5 [13]. [6].44 JW OUNTING PTTERN (SHOWN IN OPEN POSITION).5 OPEN.5 X #1-3 [5] IR PORTS (CLOSE).6 [16] 4X #4-4 X.15DP [3 X 4DP].31 [8] #4-4 X.11 DP [3 X 3 DP] (SENSOR NTG HOLE, DO NOT EXCEED DEPTH) PRLLEL GRIPPER RPL- PRECISION DUL V LOW PROFILE SERIES Specifications RPL- RPL- Total Rated Grip Force 1 psi, 7 bar 6 lbs. 116 N Stroke in. 1.7 mm Weight lbs..9 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in mm Displacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..13 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position [6.] [9.6] RPL SERIES [57] (OPEN) 1.75 [44] (CLOSED) VIEW - X Ø.938 SF X.18 DP [Ø 3 SF X 4 DP].344 [59.5] [15.9] 4X #4-4 X.18 DP [3 X 4 DP].75 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS 3 in. 75mm X BSIC ODEL RPL- -NS - NON-SNCHRONOUS ETRIC SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard V VITON SELS Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 65 lbs. 89 N lbs. 89 N aximum Compressive C 65 lbs. 89 N lbs. 89 N aximum oment x 45 in.-lbs. 5.1 Nm 15 in.-lbs. 1.7 Nm aximum oment y 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm aximum oment z 45 in.-lbs. 5.1 Nm 15 in.-lbs. 1.7 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.3 [58] IN..63 [16].36 [9] GNETO RESITIVE SENSOR OPTION.1 [3] Please see back cover for DE-ST-CO Global Locations.

5 RPL SERIES 1.94 PRLLEL GRIPPER RPL-3 PRECISION DUL V LOW PROFILE SERIES.4.1 [5.69.3] 1.15 [8.6].53 [13] [15].5 JW OUNTING PTTERN (SHOWN IN OPEN POSITION) OPEN.5.5 X #1-3 [5] IR PORTS (CLOSE).76 [19] 6X #5-4 X.15 DP [3 X 4 DP].31 [8] #4-4 X.15DP [3 X 3DP] (SENSOR NTG HOLE) Specifications RPL-3 RPL-3 Total Rated Grip Force 1 psi, 7 bar 36 lbs. 16 N Stroke in mm Weight lbs..15 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in. 1.7 mm Displacement in 3..4 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..14 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position 1.15 [8.6] 1.83 [3.6] 3. [76] (OPEN).5 [57] (CLOSED) VIEW [8.] 1. [5.4] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW X Ø.15 SF X.5 DP [Ø 3 SF X 6 DP].656 [16.66] 4X #5-4 X.31 DP [3 X 8 DP].875 [.] Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE - N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS in mm EFFECTIVE FINGER LENGTH - L X BSIC ODEL RPL-3 -NS - NON-SNCHRONOUS ETRIC SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard V VITON SELS Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 9 lbs. 4 N 3 lbs. 133 N aximum Compressive C 9 lbs. 4 N 3 lbs. 133 N aximum oment x 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm aximum oment y 8 in.-lbs. 9. Nm 5 in.-lbs..8 Nm aximum oment z 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.63 [16].36 [6] IN..36 [9] GNETO RESITIVE SENSOR OPTION Please see back cover for DE-ST-CO Global Locations.

6 .4.1 [5.69.3].53 [13] [33.3] 1.19 [3].5 JW OUNTING PTTERN (SHOWN IN OPEN POSITION) OPEN.5.5 X #1-3 [5] IR PORTS (CLOSE) 1. [5] 6X #5-4 X.15 DP [3 X 4 DP].31 [8] PRLLEL GRIPPER RPL-4 PRECISION DUL V LOW PROFILE SERIES Specifications RPL-4 RPL-4 Total Rated Grip Force 1 psi, 7 bar 36 lbs. 16 N Stroke in. 5.4 mm Weight lbs..17 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in. 1.7 mm Displacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..19 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position #4-4 X.15 DP [3 X 3 DP] (SENSOR NTG HOLE) 1.15 [8.6] 1.83 [3.6] RPL SERIES [9] (OPEN).63 [66] (CLOSED) VIEW [98.4] 1. [5.4] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW X Ø.15 SF X.5 DP [Ø 3 SF X 6 DP] 4X #5-4 X.31DP [3 X 8 DP].656 [16.66].875 [.] Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE - N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH - L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS RPL-4 -NS - V 5 in. 17mm X BSIC ODEL NON-SNCHRONOUS ETRIC VITON SELS SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 1 lbs. 534 N 4 lbs. 178 N aximum Compressive C 1 lbs. 534 N 4 lbs. 178 N aximum oment x 75 in.-lbs. 8.5 Nm 5 in.-lbs..8 Nm aximum oment y 1 in.-lbs Nm 35 in.-lbs. 4. Nm aximum oment z 75 in.-lbs. 8.5 Nm 5 in.-lbs..8 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.63 [16].36 [6] IN..36 [9] GNETO RESITIVE SENSOR OPTION Please see back cover for DE-ST-CO Global Locations.

7 RPL SERIES INTENNCE 1.96 RPL SERIES EXPLODED VIEW (3 SCREWS) Item Qty Name 1 1 Body 1 Piston 3 Cap 4 1 Equalizer 5 Link 6 4 Way 8 Jaw 13 Pin 1 Piston W/agnet Slot 1 4 S assy,cage & Rollers 3 3 SHCS 31 1 Dowel Pin 3 Dowel Pin 4 agnet NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. ssembly Procedure 1) Lubricate and install seals. ) Press dowel pin into center of body. 3) Place links and equalizers into body. 4) Press dowel pins into jaws. 5) Place jaws through links and into pistons. 6) Install cages on jaws. 7) Place ways behind cages with flat facing out and install screws. 8) djust preload Preload djustment Procedure 1) Tighten center screw (#3) so that fingers bind slightly. ) Tighten outer screws in the same fashion. 3) Cycle the gripper. 4) Re-adjust screws so that when you push the cage, the finger moves freely. (the finger movement should not feel gritty.) Non-Synchronous Procedure 1) Remove preload screws (#3) and ways. ) Remove cages, jaws and dowel pins. 3) Remove equalizer, links, and roller bearings. 4) Re-assemble jaws and dowel pins into pistons. 5) Re-install cages on jaws. 6) Place ways behind cages with flat facing out and install preload screws. 7) djust preload. Seal Repair Kit Order # s See Product Data Sheets KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Please see back cover for DE-ST-CO Global Locations.

8 RPL SERIES SSEBLED VIEW 5 Item Qty Name 1 1 Body 1 Piston 3 Cap 4 1 Equalizer 5 Link 6 4 Way 8 Jaw 13 Bearing,Roller 1 Piston W/agnet Slot 1 4 S assy,cage & Rollers 3 3 SHCS 31 1 Dowel Pin 3 Dowel Pin 4 agnet RPL SERIES INTENNCE NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices CCESSOR INSTLLTION & DJUSTENT INSTRUCTIONS Installation 1. Install sensors as shown.. djust for desired end of stroke detection KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Please see back cover for DE-ST-CO Global Locations.

9 RP SERIES 1.98 Parallel Grippers Clean Room / Harsh Environments Series Precision applications: Preloaded Dual-V roller bearings eliminate side play for excellent part position repeatability. Clean Room rated: corrosion resistant shield protects the drive and bearing mechanism. ll internal components are lubricated with clean room grade lubricant. The scavenge port can be used with vacuum pressure to prevent escape of particulate generated by the internal mechanism. Harsh environments: ll moving components are located within the stainless steel shield. The body has a purge port which can expel contaminates from the mechanism using low air pressure. Repeatable grip force: Low friction mechanism allows for consistent, repeatable gripping forces. To grip delicate parts, grip force can be easily altered by adjusting air pressure. Longer finger applications: Rigid design allows for longer gripper finger lengths to be used when compared to other grippers of equal weight. Non-synchronous motion: The unit can made non-synchronous providing independent jaw motion allowing the gripper to pick or place at a point other than it s center. ounting Information: Gripper can be mounted and operated in any orientation Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range 5-1 psi.3-7 bar Cylinder Type Dual Double cting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, -position ir Quality Requirements ir Filtration ir Lubrication ir Humidity 4 icron or Better Not Necessary* Low oisture Content (dry) Body mounts with screws and locates with slip fit dowel pins for accuracy G Shields provide protection from falling debris when mounted upside down Temperature Operating Range Buna-N Seals (standard) -3 ~18 F -35 ~8 C Viton Seals (optional) - ~5 F -3 ~1 C aintenance Specifications Expected Life Normal pplication 5 million cycles w/ Preventative aintenance 1+ million cycles* Field Repairable es Seal Repair Kits vailable es *ddition of lubrication will greatly increase service life See aintenance Section Fingers attach to jaws with screws and locate by keying Please see back cover for DE-ST-CO Global Locations.

10 Pre-Load djustment Screws djustable preload screws allow for adjustment of preload on roller bearings Non-Synchronous Operation vailable Hard Coat nodize The body has hard-coat anodize 6 RC with Teflon impregnation Patented Bearing Support Dual V roller bearings provide low friction rolling motion Preloaded Bearings Roller bearings are preloaded for maximum support and zero side play Product Features Clean-Room Lubrication Units are lubricated with a cleanroom grade grease Self Lubricating Seals Self lubricating dynamic seals (Buna-N only) One Piece Body One piece lightweight aluminum body Purge/Scavenge Port For extreme environments from dirty & gritty to clean-room Class 1 or better High Grip Force High grip force with respect to weight due to extremely efficient drive mechanism Dowel Holes Slip fit dowel pin holes in body Quality Components Internal components are made from hardened bearing & tool steels External components are made from corrosion resistant materials for resistance to de-ionized water or for use in FD & medical parts handling applications Sensors Reads position of jaw (Sold Separately-See How to Order Section for more info) ccessory ounting Holes Stainless Steel Shields Stationary and non-contacting shields eliminate the possibility of particle generation. Stainless Steel Screws Provides protection against corrosion Style-RP Parallel Gripper Size -1 Style: RP-1 RP-1 Stroke:.5 in. 6.4 mm Grip Force: 6 lb 116 N Weight:.16 lb.7 Kg See Page 1.1 Style-RP Parallel Gripper Size - Style: RP- RP- Stroke:.5 in. 1.7 mm Grip Force: 6 lb 116 N Weight:. lb.9 Kg See Page 1.11 RP SERIES 1.99 Body Operating Principle Sensor Equalizer agnet Standard Piston Drive Pin Cap Style-RP Parallel Gripper Size -3 Style: RP-3 RP-3 Stroke:.75 in mm Grip Force: 36 lb 16 N Weight:.3 lb.15 Kg See Page 1.1 Scavenge or Purge Port For clean room or harsh environments Roller Way Roller Bearings & Cages Synchronizing Bar Shields Jaw Style-RP Parallel Gripper Size -4 Style: RP-4 RP-4 Stroke: 1. in. 5.4 mm Grip Force: 36 lb 16 N Weight:.38 lb.17 Kg Exhaust Pressure Pressure Exhaust Open Position Closed Position See Page 1.13 Dual double acting opposed pistons, connected to both a jaw and a synchronizing bar by a drive pin, actuate in opposite directions. The synchronizing bars are connected to the equalizer which synchronizes the motion. The purge/scavenge port can be used to expel or retain contaminates using pressure or vacuum respectively. Suitable for internal or external gripping. The synchronizing elements can be removed for non-synchronous operation. U.S. Patent # 5,59,359 Designed and manufactured in the US Please see back cover for DE-ST-CO Global Locations.

11 RP SERIES 1.1 PRLLEL GRIPPER RP-1 PRECISION DUL V CLEN ROO SERIES.4.1 [5.69.3] X #1-3 [5] IR PORTS (CLOSE).66 [17]. [6].5.44 [13] #1-3 [5] PURGE OR SCVENGE PORT.75 JW OUNTING PTTERN ( SHOWN IN OPEN POSITION ).33 [8].5 OPEN [44] ( OPEN ) 1.5 [38] ( CLOSED ).5 4X #4-4 X.15 DP [3 X 4 DP].31 [8] #4-4 X.11 DP [3 X 3 DP] ( SENSOR NTG HOLE, DO NOT EXCEED DEPTH ) Specifications RP-1 RP-1 Total Rated Grip Force 1 psi, 7 bar 6 lb 116 N Stroke in. 6.4 mm Weight lb.7 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in mm Displacement in 3..6 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..1 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position VIEW [7.8] [9.5] 1.9 [48.3].75 UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW.594 [15.9].75 Dimensions are symmetrical about centerline Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] X Ø.938 SF X.18 DP [Ø 3 SF X 4 DP] 4X #4-4 X.18 DP [3 X 4 DP] etric Threads Course Pitch Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS RP-1 -NS- V 3 in. 75mm X BSIC ODEL NON-SNCHRONOUS ETRIC VITON SELS SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 5 lbs. N 15 lbs. 67 N aximum Compressive C 5 lbs. N 15 lbs. 67 N aximum oment x 3 in.-lbs. 3.4 Nm 1 in.-lbs. 1.1 Nm aximum oment y 4 in.-lbs. 4.5 Nm 1 in.-lbs. 1.4 Nm aximum oment z 3 in.-lbs. 3.4 Nm 1 in.-lbs. 1.1 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.3 [58] IN..63 [16].36 [9] GNETO RESITIVE SENSOR OPTION.3 [8] X Please see back cover for DE-ST-CO Global Locations.

12 .4.1 [5.69.3]. [6].913 [3.] JW OUNTING PTTERN (SHOWN IN OPEN POSITION).5 [13].38 [8.3] OPEN.5.6 [16] 4X #4-4 X.15 DP [3 X 4 DP] PRLLEL GRIPPER RP- PRECISION DUL V CLEN ROO SERIES Specifications RP- RP- Total Rated Grip Force 1 psi, 7 bar 6 lb 116 N Stroke in. 1.7 mm Weight lb.9 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in mm Displacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..13 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position L C RP SERIES [17].5 [13].44 X #1-3 [5] IR PORTS (CLOSE).31 [8] #4-4 X.11DP [3 X 3 DP] ( SENSOR NTG HOLE, DO NOT EXCEED DEPTH ) 1.96 [7.8] [9.5] #1-3 [5] PURGE OR SCVENGE PORT.33 [59] (OPEN) 1.83 [46] (CLOSED) VIEW [6.9] X Ø.938SF X.18 DP [Ø 3 SF X 4 DP].75 4X #4-4 X.18 DP [3 X 4 DP] [15.9] [19.] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS RP- -NS- V 3 in. 75mm X BSIC ODEL NON-SNCHRONOUS ETRIC VITON SELS SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 65 lbs. 89 N lb 89 N aximum Compressive C 65 lbs. 89 N lb 89 N aximum oment x 45 in.-lbs. 5.1 Nm 15 in.-lbs. 1.7 Nm aximum oment y 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm aximum oment z 45 in.-lbs. 5.1 Nm 15 in.-lbs. 1.7 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.3 [58] IN..63 [16].36 [9] GNETO RESITIVE SENSOR OPTION.1 [3] X Please see back cover for DE-ST-CO Global Locations.

13 RP SERIES 1.1 PRLLEL GRIPPER RP-3 PRECISION DUL V CLEN ROO SERIES.4.1 [5.69.3].74 [18].53 [13] X #1-3 [5] IR PORT (CLOSE) [15] 1.5 [31.8] JW OUNTING PTTERN ( SHOWN IN OPEN POSITION ) OPEN.55 [14].5 [1.7].5.76 [19] 4X #5-4 X.15 DP [3 X 4 DP].31 [8] Specifications RP-3 RP-3 Total Rated Grip Force 1 psi, 7 bar 36 lb 16 N Stroke in mm Weight lb.15 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in. 1.7 mm Displacement in 3..4 cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..14 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position #4-4 X.14 DP [3 X 3 DP] (SENSOR NTG HOLE) [3.3] 1.83 [3.6] 3.5 [83] (OPEN).5 [63] (CLOSED) VIEW - #1-3 [5] PURGE OR SCVENGE PORT 3.8 [83.4] 1. [5.4] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW.656 [16.66].875 [.] Dimensions are symmetrical about centerline Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] X Ø.15 SF X.5 DP [Ø 3 SF X 6 DP] 4X #5-4 X.31 DP [3 X 8 DP] etric Threads Course Pitch Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE - N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] in mm EFFECTIVE FINGER LENGTH - L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS RP-3 -NS- V X BSIC ODEL NON-SNCHRONOUS ETRIC VITON SELS SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 9 lbs. 4 N 3 lbs. 133 N aximum Compressive C 9 lbs. 4 N 3 lbs. 133 N aximum oment x 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm aximum oment y 8 in.-lbs. 9. Nm 5 in.-lbs..8 Nm aximum oment z 6 in.-lbs. 6.8 Nm in.-lbs..3 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.36 [6] IN..63 [16].36 [9] GNETO RESITIVE SENSOR OPTION Please see back cover for DE-ST-CO Global Locations.

14 .4.1 [5.69.3] 1.5 [38.1].65 [15.9] JW OUNTING PTTERN (SHOWN IN OPEN POSITION) X #1-3 [5] IR PORTS (CLOSE).5 4X #5-4 X.15 DP [3 X 4 DP] PRLLEL GRIPPER RP-4 PRECISION DUL V CLEN ROO SERIES Specifications RP-4 RP-4 Total Rated Grip Force 1 psi, 7 bar 36 lb 16 N Stroke in. 5.4 mm Weight lb.17 Kg Pressure Range psi.3-7 bar Cylinder Bore Ø in. 1.7 mm Displacement in cm 3 Temperature Range Standard Seals ~18 F -35 ~8 C Viton Seals ~5 F -3 ~1 C ctuation sec..19 sec. ccuracy ±. in. ±.5 mm Repeatability ±.1 in. ±.3 mm Valve required to actuate way, -position RP SERIES [4].55 [14] #1-3 [5] PURGE OR SCVENGE PORTS 1. [5] OPEN.74 [18].53 [13] [8] #4-4 X.14 DP [3 X 3 DP] (SENSOR NTG HOLE) [3.3] 1.83 [3.6] 4. (OPEN) 3. [76] (CLOSED) VIEW [11.8] 1. [5.4] UNLESS OTHERWISE NOTED LL TOLERNCES RE S SHOWN BELOW X Ø.15 SF X.5 DP [Ø 3 SF X 6 DP] 4X #5-4 X.31 DP [3 X 8 DP] [16.66] [.] Dimensions are symmetrical about centerline etric Threads Course Pitch Third ngle ll Dowel Holes are SF (Slip Fit). Locational Tolerance ±.5" or [±.13mm] Imperial in. etric [mm]. = ±.1 [.] = [±.5]. = ±.5 [.] = [±.13]. = ±.5 [.] = [±.13] Loading Information How to Order: (Order ccessories separately from Basic odel) FINGER FORCE - N lbs L GRIP FORCE PER FINGER 1 PSI [7 bar] 8 PSI [5.5 bar] 6 PSI [4.1 bar] 4 PSI [.7 bar] PSI [1.4 bar] EFFECTIVE FINGER LENGTH - L C T X WRNING! DO NOT EXCEED XIU EFFECTIVE FINGER LENGTHS RP-4 -NS- V 5 in. 17mm X BSIC ODEL NON-SNCHRONOUS ETRIC VITON SELS SENSOR CCESSORIES * ORDER # QT/UNIT Sensor ounting Kit for Imperial & etric Units (mounts sensors) O-8 1 NPN agneto Resistive Sensor with Quick Disconnect* OHSN-17 1 or PNP agneto Resistive Sensor with Quick Disconnect* OHSP-17 1 or Quick Disconnect eter Cable Length* CBL-1 1 or Quick Disconnect 5 eter Cable Length* CBL-13 1 or PNEUTIC CCESSORIES Fail Safe Valve (Imperial) OFSV-1 1 Fail Safe Valve (etric) OFSV-4 1 Standard Seal Repair Kit SLKT-1 1 Viton Seal Repair Kit SLKT-1V 1 *Sensor and cable sold separately Piston magnet standard Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T 1 lbs. 534 N 4 lbs. 178 N aximum Compressive C 1 lbs. 534 N 4 lbs. 178 N aximum oment x 75 in.-lbs. 8.5 Nm 5 in.-lbs..8 Nm aximum oment y 1 in.-lbs Nm 35 in.-lbs. 4. Nm aximum oment z 75 in.-lbs. 8.5 Nm 5 in.-lbs..8 Nm Capacities are per set of jaws and are not simultaneous FIL SFE VLVE OPTION.36 [6] IN..63 [16].36 [9] GNETO RESITIVE SENSOR OPTION Please see back cover for DE-ST-CO Global Locations.

15 RP SERIES INTENNCE 1.14 RP SERIES EXPLODED VIEW KRTOX Item Qty Name 1 1 Body 1 Piston 3 Cap 4 1 Equalizer 5 Link 6 4 Way 8 Jaw 1 1 Cover, Bottom 11 Cover, Bottom, Corners 1 Cover, End 13 Bearing, Roller 1 Piston W/agnet Slot 1 4 S assy, Cage & Rollers 3 3 SHCS 31 1 Dowel Pin 3 Dowel Pin 4 agnet Note: contact the robohand sales department for a complete spare parts list with order numbers and prices. 3 KRTOX (3 SCREWS) 3 KRTOX ssembly procedure 1) Lubricate and install seals. ) Glue magnets into one piston, install pistons, caps and retaining rings. 3) Press dowel pin into center of body. 4) Place links and equalizers into body. 5) Press dowel pins into jaws. 6) Place jaws through links and into pistons. 7) Install cages on jaws. 8) Place ways behind cages with flat facing out and install screws. 9) djust preload. 1) Install bottom cover, bottom cover corners and end covers. Preload adjustment procedure 1) Tighten center screw (#3) so that fingers preload adjustment procedure ) Tighten outer screws in the same fashion. Bind slightly. 3) Cycle the gripper. 4) Re-adjust screws so that when you push the cage, the finger moves freely. (the finger movement should not feel gritty.) Non-synchronous procedure 1) Remove end covers, bottom cover corners, and bottom cover. ) Remove preload screws (#3) and ways. 3) Remove cages, jaws and dowel pins. 4) Remove equalizer, links, and roller bearings. 5) Re-assemble jaws and dowel pins into pistons. 6) Re-install cages on jaws. 7) Place ways behind cages with flat facing out and 8) djust preload. Install preload screws. 9) Re-attach bottom cover, bottom cover corners and end covers. Gripper is now non-synchronous. Seal Repair Kit Order # s See Product Data Sheets KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Please see back cover for DE-ST-CO Global Locations.

16 RP SERIES SSEBLED VIEW Item Qty Name 1 1 Body 1 Piston 3 Cap 4 1 Equalizer 5 Link 6 4 Way 8 Jaw 1 1 Cover, Bottom 11 Cover, Bottom, Corners 1 Cover, End 13 Bearing, Roller 1 Piston W/agnet Slot 1 4 S assy, Cage & Rollers 3 3 SHCS 31 1 Dowel Pin 3 Dowel Pin 4 agnet Note: contact the robohand sales department for a complete spare parts list with order numbers and prices. RP SERIES INTENNCE CCESSOR INSTLLTION & DJUSTENT INSTRUCTIONS Installation 1) Install sensors as shown. ) djust for desired end of stroke detection KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder Third ngle Please see back cover for DE-ST-CO Global Locations.