Parallel Grippers- 1.170 Miniature Series Double Wedge • General purpose: This style gripper is the most widely used in the industry. It is a rugged design and supplies very high grip force. • Small parts handling: Compact size, high gripping force, and extended jaw design facilitates finger attachment for smaller parts. • Robotic applications: High grip force to weight ratio make these grippers very popular on small robots. • Miniature Size: Allows banks of grippers to be mounted in close proximity for multiple part picking and placing. Mounting Information: Technical Specifications: Grippers can be mounted & operated in any orientation Pneumatic Specifications Imperial Metric Pressure Operating Range 40-100 psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, 2-position Air Quality Requirements Air Filtration 40 Micron or Better Air Lubrication Not Necessary* Air Humidity Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -30°~180° F -35°~80° C ® Viton Seals (optional) -20°~300° F -30°~150° C Warning! Protect jaw Body mounts with mechanism from falling † Maintenance Specifications screws and locates debris when mounted Expected Life with slip fit dowel pins upside down Normal Application 5 million cycles for accuracy G w/ Preventative Maintenance 10+ million cycles* Field Repairable Yes Seal Repair Kits Available Yes Application Restrictions • Dirty or gritty environments • Machining operations generating chips • Environments with loose particulate • Applications where mechanism lubricant could cause contamination *Addition of lubrication will greatly increase service life † See Maintenance Section Fingers attach to jaws with screws and locate by keying Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com RP SERIES Style-RP Parallel Gripper Product Features Style: RP-5 RP-5M Size -5M Stroke: .16 in. 4.1 mm Grip Force: 35 lb 156 N Self Lubricating Seals Quality Components Weight: .18 lb .08 Kg Self lubricating dynamic seals Dynamic components are 1.171 (Buna-N only) hardened for wear resistance and long life Sensors/ Mounting Kit Dowel Holes Read position of jaw Slip fit dowel pin (Sold Separately) holes in body See Accessory Page1.172 Mounting Holes (Mounts sensors to unit) One Piece Rugged Body Style-RP Parallel Gripper Construction One piece 7075-T6 aircraft quality Jaws are supported Style: RP-5 RP-5M aluminum body throughout the length Size -5M-FS Stroke: .16 in. 4.1 mm of the body and are Grip Force:* 40 lb 178 N precision ground for Weight: .18 lb .08 Kg minimal jaw play *Grip force with spring assist Optional RP-5 Hard Coat Anodize Spring Close The body has hard-coat ® anodize 60 RC with Teflon RP-5 has an optional impregnation spring closed feature for failsafe operation See Page1.172 Operating Principle Cap Style-RP Parallel Gripper Piston Style: RP-10 RP-10M Size -10M Stroke: 1/4 in. 6.4 mm Grip Force: 40 lb 175 N Body Weight: .28 lb .13 Kg Double Wedge Shaft See Page1.173 Jaw Bottom Plate Note: Please refer to our new DPDS/DPDL Series grippers found on pages 1.134-1.157. The RP Series is still available for sale and the related Pressure Exhaust information remains available on our website but Exhaust we encourage you to consider the new Pressure DPDS/DPDL Series grippers found on pages 1.134-1.157 for new projects. Open Closed Position Position • A double acting piston is connected by a shaft to a double sided wedge. • The wedge slides in a slot located in each of the jaws converting vertical motion of the wedge into horizontal synchronous motion of the jaws. • The large surface area of the wedge minimizes frictional wear. • This gripper is suitable for internal or external gripping. U.S. Patent # 5,125,708 Designed and manufactured in the USA Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com RP SERIES 100 PSI [7 bar] 80 PSI [5.5 bar] 60 PSI [4.1 bar] 40 PSI [2.7 bar] Failsafe Spring Closed - 0 PSI [0 bar] PARALLEL GRIPPER RP-5M-FS MINIATURE DOUBLE WEDGE SERIES Specifications RP-5 RP-5M 1.125 Total Rated Grip Force F @ 100 psi, 7 bar35 lb 156 N [28.6] Stroke........................................................ .16 in. 4.1 mm .9375 [23.81] Weight ....................................................... 0.18 lb 0.08 Kg 2X #4-40 X .38 DP 1.172 C [M3 X 9 DP] L Pressure Range......................................... 40-100 psi 3-7 bar Cylinder Bore Ø ......................................... 0.750 in. 19.1 mm 3 3 Displacement ............................................ 0.042 in. 0.7 cm .5000 1.000 Temperature Range C L [12.70] [25.4] Standard Seals....................................... -30°~180° F -35°~80° C ® Viton Seals ............................................ -20°~300° F -30°~150° C Actuation ................................................... 0.14 sec. 0.14 sec. Accuracy ................................................... ±0.001 in. ±0.03 mm 2X Ø .0938 SF X .25 DP [Ø 3 H7 X 6 DP] Repeatability ............................................. ±0.0005 in. ±0.01 mm Valve required to actuate .......................... 4-way, 2-position 2X #4-40 X .12 DP [M3 X 3 DP] (SENSOR MNTG HOLES, 2X #10-32 [M5] .75 [19] OPEN .50 [13] DO NOT EXCEED DEPTH) AIR PORTS C C L (CLOSE) L .19 [5] .50 [13] .53 [13] 1.178 [29.9] 1.437 [36.5] .250 4X #6-32 .312 .125 [6.4] [M3] THRU [7.9] [3.2] 1.14 ± .015 [29 ±.4] (OPEN) .97 [24] (CLOSED) +.000 +0.00 .562 14.27 -.002 -0.05 (JAWS SHOWN IN OPEN POSITION) UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Metric [mm] 0.00 = ±.01 [0.] = [±.25] Dimensions are All Dowel Holes are SF (Slip Fit). Third Angle Metric Threads 0.000 = ±.005 [0.0] = [±.13] symmetrical about Locational Tolerance Projection Course Pitch 0.0000 = ±.0005 [0.00] = [±.013] centerline ±.0005" or [±.013mm] Loading Information How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 89 20 (Refer to Spring Assist Gripper section for WARNING! BASIC MODEL FAIL SAFE CLOSED more information) DO NOT EXCEED MAXIMUM EFFECTIVE 67 15 FINGER LENGTHS -- RP-5MV FS 44 10 ® METRIC VITON SEALS 22 5 ORDER # QTY/UNIT SENSOR ACCESSORIES 0 0 Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-001 1 * 0 1 2 3 in. NPN Inductive Sensor with Quick Disconnect OISN-019 1 or 2 0 25 50 75mm * PNP Inductive Sensor with Quick Disconnect OISP-019 1 or 2 EFFECTIVE FINGER LENGTH - L * Quick Disconnect 2 Meter Cable Length CABL-010 1 or 2 * Quick Disconnect 5 Meter Cable Length CABL-013 1 or 2 Mz Mz PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV-001 1 Fail Safe Valve (Metric) OFSV-004 1 Mx My Standard Seal Repair Kit SLKT-052 1 ® Viton Seal Repair Kit SLKT-052V 1 L C *Sensor and cable sold separately. T F/2 F/2 Static Dynamic † Loading Capacity Imperial Metric Imperial Metric INDUCTIVE SENSORS AND FAILSAFE VALVE MOUNTING KIT Maximum Tensile T 50 lbs. 222 N 7 lbs. 31 N .63 [16] Maximum Compressive C 75 lbs. 334 N 12 lbs. 53 N Maximum Moment M 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm x Maximum Moment M 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm y Maximum Moment M 30 in.-lbs. 3.4 Nm 5 in.-lbs. 0.6 Nm 2.42 [61] z 1.06 [27] † Capacities are per set of jaws and are not simultaneous Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com RP SERIES FINGER FORCE - F/2 100 PSI [7 bar] 80 PSI [5.5 bar] 40 PSI [2.7 bar] 60 PSI [4.1 bar] PARALLEL GRIPPER RP-10M MINIATURE DOUBLE WEDGE SERIES Specifications RP-10 RP-10M 1.500 Total Rated Grip Force F @ 100 psi, 7 bar40 lb 178 N [38.1] Stroke........................................................ 0.25 in. 6.4 mm 1.2500 Weight ....................................................... 0.28 lb 0.13 Kg 1.173 [31.75] 2X Ø .1250SF X .25 DP Pressure Range......................................... 40-100 psi 3-7 bar [Ø 3 H7 X 6 DP] Cylinder Bore Ø ......................................... 1.00 in. 25.4 mm C L 3 3 Displacement ............................................ 0.098 in. 1.6 cm Temperature Range Standard Seals....................................... -30°~180° F -35°~80° C ® 1.250 Viton Seals ............................................ -20°~300° F -30°~150° C .5000 C L [31.7] [12.70] Actuation ................................................... 0.13 sec. 0.13 sec. Accuracy ................................................... ±0.001 in. ±0.03 mm Repeatability ............................................. ±0.0005 in. ±0.01 mm Valve required to actuate .......................... 4-way, 2-position 2X #6-32 X .25 DP [M4 X 6 DP] OPEN 2X #10-32 [M5] .78 [20] AIR PORTS C C L L (CLOSE) 2X #2-56 X .18 DP .19 [5] [M3 x 4 DP] .37 [9] (SENSOR .91 MNTG HOLES) 1.126 [23] [28.6] 1.470 [37.3] 4X #6-32 [M4] THRU .250 .16 [6.4] [4] .313 +.000 +0.00 .76 ± .015 [19 ± .4] (OPEN) [8.0] .625 15.88 -.002 -0.05 .50 [12] (CLOSED) .937 [23.8] (JAWS SHOWN IN OPEN POSITION) UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Metric [mm] 0.00 = ±.01 [0.] = [±.25] Dimensions are All Dowel Holes are SF (Slip Fit). Third Angle Metric Threads 0.000 = ±.005 [0.0] = [±.13] symmetrical about Locational Tolerance Projection Course Pitch 0.0000 = ±.0005 [0.00] = [±.013] centerline ±.0005" or [±.013mm] Loading Information How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. BASIC MODEL METRIC 89 20 WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 67 15 - RP-10MV 44 10 ® VITON SEALS ORDER # QTY/UNIT SENSOR ACCESSORIES 22 5 Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-002 1 * NPN Inductive Sensor with Quick Disconnect OISN-019 1 or 2 * 0 0 PNP Inductive Sensor with Quick Disconnect OISP-019 1 or 2 0 1 2 3 in. * Quick Disconnect 2 Meter Cable Length CABL-010 1 or 2 0 25 50 75mm * Quick Disconnect 5 Meter Cable Length CABL-013 1 or 2 EFFECTIVE FINGER LENGTH - L PNEUMATIC ACCESSORIES Mz Mz Fail Safe Valve (Imperial) OFSV-001 1 Fail Safe Valve (Metric) OFSV-004 1 Standard Seal Repair Kit SLKT-036 1 Mx ® My Viton Seal Repair Kit SLKT-036V 1 L C *Sensor and cable sold separately. T F/2 F/2 Static Dynamic INDUCTIVE SENSORS AND † FAILSAFE VALVE Loading Capacity Imperial Metric Imperial Metric MOUNTING KIT .63 [16] Maximum Tensile T 100 lbs. 445 N 15 lbs. 67 N Maximum Compressive C 150 lbs. 667 N 25 lbs. 111 N Maximum Moment M 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm x Maximum Moment M 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm y 1.23 [31] 2.54 [65] Maximum Moment M 90 in.-lbs. 10.2 Nm 15 in.-lbs. 1.5 Nm z † Capacities are per set of jaws and are not simultaneous Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com FINGER FORCE - F/2 RP SERIES RP-5 &10 Series Exploded View Item Qty Name 01 1 Body 1.174 02 2 Jaw 03 1 Cap 04 1 Piston 05 1 Plate,Bottom 06 1 Shaft/Wedge 07* 1 Gib 30* 4 SSS,Cup Point * RP-10 Only NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedures 1) Lubricate and install seals. 2) Install piston into body. 3) Place wedge, jaws, and gib plate into body. SK 4) Attach bottom plate to body. 5) Install cap and retaining ring. Gib Adjustment Procedure 1) Tighten set screws (#30) so that they just just touch the gib plate. 2) Cycle the gripper. 3) Adjust screws so that there is no play in jaws. 3 SK Seal Repair Kit Order #’s See Product Data Sheets 4 SK (4 SCREWS) 30 1 2 7 6 5 (4 SCREWS) Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com RP SERIES MAINTENANCE RP-5 & 10 Series Assembled View Item Qty Name 01 1 Body 1.175 02 2 Jaw 03 1 Cap 04 1 Piston 05 1 Plate, Bottom 1 06 1 Shaft/Wedge 07* 1 Gib 3 30* 4 SSS,Cup Point * RP-10 Only 4 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 6 5 2 Accessory Installation & Adjustment Instructions 1 3 4 2 5 Please see back cover for DE-STA-CO Global Locations. www.destaco.com Courtesy of CMA/Flodyne/Hydradyne � Motion Control � Hydraulic � Pneumatic � Electrical � Mechanical � (800) 426-5480 � www.cmafh.com RP SERIES MAINTENANCE