Angular Grippers- Cam Driven Series

Transcription

1 RA SERIES Angular Grippers- Cam Driven Series. General Purpose: This style gripper is widely used in the industry and is a rugged design that supplies very high grip force for its size. Cost Effective: The simplified drive mechanism makes these grippers an excellent value. ounting Information: Grippers can be mounted & operated in any orientation Technical Specifications: Pneumatic Specifications Imperial etric Pressure Operating Range 4- psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, -position Air Quality Requirements Air Filtration Air Lubrication Air 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 jaw mechanism from falling debris when mounted upside down Temperature Operating Range Buna-N Seals (standard) -3 ~8 F -3 ~8 C Viton Seals (optional) - ~3 F -3 ~ C aintenance Specifications Expected Life Normal Application million cycles w/ Preventative aintenance + million cycles* Field Repairable es Seal Repair Kits Available es *Addition of lubrication will greatly increase service life See aintenance Section Fingers attach to jaws with screws and locate by keying

2 Hard Coat Anodize The body has hard-coat anodize 6 RC with Teflon impregnation One Piece Body One piece 77-T6 aircraft quality aluminum body Product Features Quality Components Dynamic components are hardened for wear resistance and long life Quality anufacturing Components are precision ground for minimal jaw play Sensor agnets Standard Style-RA Angular Gripper Size - Style: RA- RA- Stroke: each finger Grip Force: lbs. 89 N Weight:. lbs.. Kg See Page.4 Style-RA Angular Gripper Size -6 Style: RA-6 RA-6 Stroke: each finger Grip Force: 44 lbs. 96 N Weight:.68 lbs..3 Kg RA SERIES.3 Stop Screw Limits open position of jaws Operating Principle Cap Self- Lubricating Seals Self lubricating dynamic seals (Buna-N only) Piston See Page. Style-RA Angular Gripper Size - Style: RA- RA- Stroke: each finger Grip Force: 6 lbs. 7 N Weight:.6 lbs..3 Kg See Page.8 Body Cam Shaft Adjustment Plate Jaw Pressure Exhaust Exhaust Pressure Open Position Closed Position A double acting piston is connected by a shaft to a cam. The cam rolls in a slot located in each of the jaws converting vertical motion of the wedge into angular synchronous motion of the jaws. This gripper is suitable for internal or external gripping. Designed and manufactured in the USA

3 ANGULAR GRIPPER RA- CA DRIVEN SERIES RA SERIES.4.7 [9.].37 [9.].7 [.9]. [38.].87 [3.6]. [6.4]. [.7]. [.4] X #8-3 X.38 DP [4 X 9 DP] 3X Ø. SF X.8DP [Ø 3 H7 X 4 DP] Specifications RA- RA- Total Rated Grip Force psi, 7 bar lbs. 89 N Stroke... of stroke for each finger Open Stroke Adjustment... of stroke for each finger Weight.... lbs.. Kg Pressure Range psi 3-7 bar Cylinder Bore Ø in..6 mm Displacement....3 in 3.. cm 3 Temperature Range Standard Seals ~8 F -3 ~8 C Viton Seals... - ~3 F -3 ~ C Actuation.... sec.. sec. Accuracy... ±. in. ±.3 mm Repeatability... ±.3 in. ±.8 mm Valve required to actuate... 4-way, -position.87 [3.]. [.7] CLOSE.88 [] X #-3 [] AIR PORTS (OPEN).9 []. [3].377 [3.].33 [33.4] L C X #4-4 X. DP [3 X 3 DP] X #4-4 X.8 DP [3 X 4 DP] STROKE. [6.4]. [3.8] NOTE: JAWS CLOSE PAST PARALLEL.499 ±. [.7 ±.3]. [3.].7 [9.] STROKE ADJUSTENT 8X #4-4 X.8 DP [3 X 4 DP] UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW.37 [9.].7 [44.]. [6.4]. [3.] Dimensions are symmetrical about centerline etric Threads Course Pitch All Dowel Holes are SF (Slip Fit). Locational Tolerance ±." or [±.3mm] Imperial in. etric [mm]. = ±. [.] = [±.]. = ±. [.] = [±.3]. = ±. [.] = [±.3] Loading Information How to Order: (Order Separately ) FINGER FORCE - F/ N lbs GRIP FORCE PER FINGER PSI [7 bar] 8 PSI [. bar] 6 PSI [4. bar] 4 PSI [.7 bar] EFFECTIVE FINGER LENGTH - L WARNING! DO NOT EXCEED AXIU EFFECTIVE FINGER LENGTHS in. mm BASIC ODEL RA- - ETRIC V VITON SEALS SENSOR ACCESSORIES ORDER # QT/UNIT 4mm NPN agneto Resistive Sensor* OHSN-7 or 4mm PNP agneto Resistive Sensor* OHSP-7 or 4mm NPN 9 agneto Resistive Sensor* OHSN- or 4mm PNP 9 agneto Resistive Sensor* OHSP- or Quick Disconnect eter Cable Length* CABL- or Quick Disconnect eter Cable Length* CABL-3 or L C Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T lbs. 44 N lbs. 44 N aximum Compressive C lbs. 44 N lbs. 44 N aximum oment x in.-lbs.. Nm in.-lbs.. Nm aximum oment y in.-lbs.. Nm in.-lbs.. Nm aximum oment z in.-lbs.. Nm in.-lbs.. Nm Capacities are per set of jaws and are not simultaneous T X F/ X F/ PNEUATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV- Fail Safe Valve (etric) OFSV-4 Standard Seal Repair Kit SLKT- Viton Seal Repair Kit SLKT-V *Sensor and cable sold separately..7 [8] HALL EFFECT SENSOR FAILSAFE VALVE.63 [6].4 [6] IN.

4 ANGULAR GRIPPER RA-6 CA DRIVEN SERIES.84 [.4].4 [.7] X.7 [.9]. [.8].687 [4.86] 3X Ø.SF X.8DP [Ø4H7 X 4DP] X #-3 X.DP [ X DP].3 [7.9].64 [.8]. [38.] X #-3 [] AIR PORTS(OPEN) Specifications RA-6 RA-6 Total Rated Grip Force psi, 7 bar44 lbs. 96 N Stroke... of stroke for each finger Open Stroke Adjustment... of stroke for each finger Weight lbs..3 Kg Pressure Range psi 3-7 bar Cylinder Bore Ø.... in. 3.8 mm Displacement....3 in cm 3 Temperature Range Standard Seals ~8 F -3 ~8 C Viton Seals... - ~3 F -3 ~ C Actuation.... sec.. sec. Accuracy... ±. in. ±.3 mm Repeatability... ±.3 in. ±.8 mm Valve required to actuate... 4-way, -position RA SERIES..9 [3] X #8-3 X.9DP [4 X 4DP] CLOSE.4 [6].6 [] X #8-3 X.38DP [4 X 9DP].48 [37.6]. [3.8].94 [49.6].79.7 [4.] [44.] STROKE.37 [9.].66 [4.3] NOTE: JAWS CLOSE PAST PARALLEL.748±. [9.±.3].87 [4.7]. [.4] STROKE ADJUSTENT 8X #8-3 X.38DP [4 X 9DP] UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW. [.7].48 [6.4].37 [9.].87 [4.7] Dimensions are symmetrical about centerline etric Threads Course Pitch All Dowel Holes are SF (Slip Fit). Locational Tolerance ±." or [±.3mm] Imperial in. etric [mm]. = ±. [.] = [±.]. = ±. [.] = [±.3]. = ±. [.] = [±.3] Loading Information How to Order: (Order Separately ) FINGER FORCE - F/ N lbs GRIP FORCE PER FINGER PSI [7 bar] 8 PSI [. bar] 6 PSI [4. bar] 4 PSI [.7 bar] EFFECTIVE FINGER LENGTH - L WARNING! DO NOT EXCEED AXIU EFFECTIVE FINGER LENGTHS. in. 64mm BASIC ODEL RA-6 - ETRIC V VITON SEALS SENSOR ACCESSORIES ORDER # QT/UNIT 4mm NPN agneto Resistive Sensor* OHSN-7 or 4mm PNP agneto Resistive Sensor* OHSP-7 or 4mm NPN 9 agneto Resistive Sensor* OHSN- or 4mm PNP 9 agneto Resistive Sensor* OHSP- or Quick Disconnect eter Cable Length* CABL- or Quick Disconnect eter Cable Length* CABL-3 or L C T X F/ X F/ Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T lbs. 89 N lbs. 89 N aximum Compressive C lbs. 89 N lbs. 89 N aximum oment x in.-lbs..3 Nm in.-lbs..3 Nm aximum oment y in.-lbs..3 Nm in.-lbs..3 Nm aximum oment z in.-lbs..3 Nm in.-lbs..3 Nm Capacities are per set of jaws and are not simultaneous PNEUATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV- Fail Safe Valve (etric) OFSV-4 Standard Seal Repair Kit SLKT-3 Viton Seal Repair Kit SLKT-3V *Sensor and cable sold separately.. [6] HALL EFFECT SENSOR FAILSAFE VALVE.67 [68] IN..63 [6]

5 RA- & 6 Series Exploded View Item Qty Name RA & 6 SERIES AINTENANCE.6 Body Jaw 3 Wedge 4 Piston Cap 6 Plate, Adjustment 3 SSS, Nylon Patch, Cup Point 3 Dowel Pin 4 agnet 4 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure ) Lubricate and install seals. ) Glue magnet into piston. 3) Install piston and wedge. 4) Install jaws (press dowel pins through fingers from air port side). ) Install cap and retaining ring. 6) Install adjustment plate. 7) Set adjustment screw for desired stroke. 4 7 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

6 RA- & 6 Series Assembled View Item Qty Name 4 7 Body Jaw 3 Wedge 4 Piston Cap 6 Plate, Adjustment 3 SSS, Nylon Patch, Cup Point 3 Dowel Pin 4 agnet NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. RA & 6 SERIES AINTENANCE Accessory Installation & Adjustment Instructions Installation ) Install sensors in profile slots as shown. ) Set with integrated set screw. KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder

7 ANGULAR GRIPPER RA- CA DRIVEN SERIES RA SERIES.8 Ø.938 SF X.8 DP [Ø H7 X DP].7 [9.]. [.4].7 [9.]. [.4] X #6-3 X. DP [4 X 6 DP] Specifications RA- RA- Total Rated Grip Force psi, 7 bar6 lbs. 7 N Stroke... of stroke for each finger Weight lbs..3 Kg Pressure Range psi 3-7 bar Cylinder Bore Ø in..6 mm Displacement....6 in 3..4 cm 3 Temperature Range Standard Seals ~8 F -3 ~8 C Viton Seals... - ~3 F -3 ~ C Actuation Time....8 sec..8 sec. Accuracy... ±.3 in. ±.8 mm Repeatability... ±. in. ±.3 mm Valve required to actuate... 4-way, -position.6 [3.].3 [3].6 [4.3].437 [36.].87 [4.7] X #3-6 [3] AIR PORTS (OPEN) (FITTINGS SUPPLIED FOR.6 [.] TUBING ID.37 [9] CLOSE.6 [4]. [6.4].34 [9].6 [7.] 4X #6-3 [3] THRU.3 ±. [7.87±.3] X #6-3 X. DP [4 X 6DP].7 [9.] 3. [.7].83 [.7] STROKE NOTE: JAWS CLOSE PAST PARALLEL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. etric [mm] Dimensions are All Dowel Holes are SF (Slip Fit). etric Threads. = ±. [.] = [±.] symmetrical about Locational Tolerance Course Pitch. = ±. [.] = [±.3] centerline ±." or [±.3mm]. = ±. [.] = [±.3] Loading Information How to Order: (Order Separately) FINGER FORCE - F/ N lbs GRIP FORCE PER FINGER PSI [7 bar] 8 PSI [. bar] 6 PSI [4. bar] 4 PSI [.7 bar] 3 EFFECTIVE FINGER LENGTH - L WARNING! DO NOT EXCEED AXIU EFFECTIVE FINGER LENGTHS. 38 mm BASIC ODEL RA- - ETRIC PNEUATIC ACCESSORIES Order # QT/UNIT Standard Seal Repair Kit SLKT-8 Viton Seal Repair Kit SLKT-8V V VITON SEALS L C T F/ X F/ Loading Capacity Static Dynamic Imperial etric Imperial etric aximum Tensile T lbs. N lbs. N aximum Compressive C lbs. N lbs. N aximum oment x in.-lbs..6 Nm in.-lbs..6 Nm aximum oment y in.-lbs..6 Nm in.-lbs..6 Nm aximum oment z in.-lbs..6 Nm in.-lbs..6 Nm Capacities are per set of jaws and are not simultaneous X

8 RA- Series Exploded View Item Qty Name Body Cap 3 Jaw 4 Piston Shaft 6 Pin 3 Dowel Pin NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. RA- SERIES AINTENANCE.9 Seal Repair Kit Order # s See Product Data Sheet KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder

9 RA- Series Assembled View Item Qty Name RA- SERIES AINTENANCE.3 4 Body Cap 3 Jaw 4 Piston Shaft 6 Pin 3 Dowel Pin NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices KRTOX Seal Kit Items Thread Locker Krytox Lubricant Lightweight achine Oil Teflon Based Grease Super Bonder

10 QUALIT PRECISION DESIGN DURABILIT NOTES PRECISION DURABILIT QUALIT DURABILIT QUALIT PRECISION.3 QUALIT PRECISION DURABILIT PRECISION DURABILIT QUALIT DURABILIT QUALIT PRECISION QUALIT PRECISION DURABILIT PRECISION DURABILIT QUALIT DURABILIT QUALIT PRECISION QUALIT PRECISION DURABILIT PRECISION DURABILIT QUALIT DURABILIT QUALIT PRECISION QUALIT PRECISION DURABILIT RA SERIES.3