1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 214 Parallel Grippers- 1.214 Wide Body Series • Machining applications: • Large or wide parts: Sealed design repels chips and Wide body design provides secure other particulate from the internal gripping of large & wide parts. drive mechanism. • Non synchronous motion: • Long gripper fingers: The unit can be made non-synchronous Jaw support thru the length of the providing independent jaw motion allowing body allows for long fingers to be the gripper to pick or place at a point attached to the jaws. other than it’s center. 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 Dual Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required 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 Fingers attach with screws Jaw design allows † and locate on jaws with for simplified mounting Maintenance Specifications dowel pins of fingers Expected Life Normal Application 5 million cycles w/ Preventative Maintenance 10+ million cycles* G Field Repairable Yes Seal Repair Kits Available Yes *Addition of lubrication will greatly increase service life † See Maintenance Section Body mounts on top or on side with screws and locates with slip fit dowel pin holes for accuracy 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 RPW SERIES 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 215 Style-RPW Parallel Gripper Product Features 625-1 625M-1 Size -625M-1 Stroke: 2.00 in. 50.8 mm Quality Components Sensors/ Grip Force: 240 lb 1068 N Hardened precision stainless steel shafting Mounting Kit Weight: 6.5 lb 2.95 Kg for wear resistance and long life Read position of jaw Accessory 1.215 (Sold Separately-See Mounting Holes “How to Order” Section (Mounts sensors to unit) Dowel Holes for more info) See Slip fit dowel pin Sealed Design Page1.216 holes in body Unit repels contaminants Style-RPW Parallel Gripper 625-2 625M-2 Size -625M-2 Stroke: 3.50 in. 88.9 mm One Grip Force: 240 lb 1068 N Piece Weight: 7.8 lb 3.55 Kg Simplified Body Finger One piece anodized Mounting aluminum body Large jaw and jaws See configuration Page1.217 allows for simplified finger mounting Style-RPW Parallel Gripper 750 750M Optional Superior Jaw Size -750M Stroke: 4.50 in. 114.3 mm Non-Synchronous Grip Force: 470 lb 2091 N Support Self Lubricating Operation Weight: 14 lb 6.36 Kg Each jaw is supported Self lubricating oil impregnated by 2 shafts that extend bronze bushing for low friction the entire length of the and wear resistance Double Rod Seals body and are guided by Self lubricating dynamic seals Double rod seals for 2 bronze bushings (Buna-N only) longer life per shaft See Page1.218 Operating Principle Pinion Gear and Note: Please refer to the New DPW series for Pinion Cap Needle Bearing Rack Shaft Piston sizes of RPW-250 through RPW-500-2 on pages 1.196 to 1.209. The RPW series information on these sizes is still available on our website and Jaw are available for sale. We encourage you to consider the new DPW design for new projects. Shaft Cap Body Bushing Pressure Exhaust Exhaust Pressure Open Closed Position Position Two shafts, one with a rack cut into it, are securely fastened to each of the jaws and are supported through the length of the body. Two double acting opposed pistons provide power to the jaws. The rack shafts of each jaw slide in opposite directions of one another and are synchronized by a pinion gear. This gripper is suitable for internal or external gripping. U.S. Patent # 5,163,729 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 RPW SERIES 100 PSI [7 bar] 80 PSI [5.5 bar] 60 PSI [4.1 bar] 40 PSI [2.7 bar] 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 216 PARALLEL GRIPPER RPW-625M-1 WIDE BODY SERIES Specifications RPW-625-1 RPW-625M-1 Total Rated Grip Force F @ 100 psi, 7 bar240 lb 1068 N Stroke........................................................ 2.00 in. 50.8 mm 6X 1/4-20 x .42 DP [M6 X 10 DP] 2X Ø .1875SF X .26 DP [Ø 5 H7 X 6 DP] Weight ....................................................... 6.5 lb 3.0 Kg 1.216 1.125 [28.6] C L Pressure Range......................................... 40-100 psi 3-7 bar Cylinder Bore Ø ......................................... 1.625 in. 41.3 mm 3 3 Displacement ............................................ 1.320 in. 21.6 cm 2X 3.240 C Temperature Range L [82.3] (JAW) Standard Seals....................................... -30°~180° F -35°~80° C ® Viton Seals ............................................ -20°~300° F -30°~150° C Actuation ................................................... 0.52 sec. 0.52 sec. 2.5000 [63.50] Accuracy ................................................... ±0.003 in. ±0.08 mm 3.250 [82.6] (BODY) Repeatability ............................................. ±0.001 in. ±0.03 mm 2X Ø .1875 SF X .26 DP Valve required to actuate double acting.... 4-way, 2-position [Ø 5 H7 X 6 DP] (THIS FACE ONLY) 3X 5/16-18 X .56 DP [M8 X 14 DP] (THIS FACE ONLY) 3.875 [98.4] C L UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW 2X 2.615 C L [66.4] (JAW) Dimensions are All Dowel Holes are SF (Slip Fit). Third Angle symmetrical about Locational Tolerance Projection centerline ±.0005" or [±.013mm] 1.2500 2.625 [66.7] 2X 1.235 [31.4] [31.75] Imperial in. Metric [mm] (BODY) 0.00 = ±.01 [0.] = [±.25] 2.500 [63.5] Metric Threads 0.000 = ±.005 [0.0] = [±.13] Course Pitch 0.0000 = ±.0005 [0.00] = [±.013] 3X #6-32 X .12 DP [M3 X 3 DP] .55 [14] (SENSOR MNTG HOLES) .08 [2] .66 [17] 2X 1/8 NPT [G1/8"] AIR PORTS (OPEN) .66 .25 [6] CLOSE .96 4X Ø .1875 SF X .38 DP [17] [24] C 1.06 [27] [Ø 5 H7 X 9 DP] C L L .11 [3] 1.3125 2.250 C C L L [33.34] [57.1] 8X 5/16-18 X 1.00 DP 2X [M8 X 25 DP] #4-40 X .30 DP [M3 X 7 DP] (SENSOR TARGET 1.42 MNTG HOLES) [36] 1.625 [41.3] 8.63 [219] (OPEN) 6.63 [168] (CLOSED) JAWS SHOWN OPEN Loading Information How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 534 120 BASIC MODEL NON-SYNCHRONOUS 445 100 WARNING! DO NOT EXCEED 356 80 MAXIMUM EFFECTIVE NS RPW-625 M -1- - V FINGER LENGTHS 267 60 ® METRIC 178 40 VITON SEALS 89 20 ORDER # QTY/UNIT SENSOR ACCESSORIES 0 0 Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-074 1 0 3 6 9 12 15 in. * NPN Inductive Sensor with Quick Disconnect OISN-011 1 or 2 0 76 152 229 305 381mm * PNP Inductive Sensor with Quick Disconnect OISP-011 1 or 2 EFFECTIVE FINGER LENGTH - L * Quick Disconnect 2 Meter Cable Length CABL-010 1 or 2 * Z Quick Disconnect 5 Meter Cable Length CABL-013 1 or 2 Z MZ PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) OFSV-002 1 Fail Safe Valve (Metric) OFSV-005 1 X Y Standard Seal Repair Kit SLKT-071 1 L T ® C Viton Seal Repair Kit SLKT-071V 1 F/2 F/2 *Sensor and cable sold separately. M X MY Static Dynamic † FAILSAFE Loading Capacity Imperial Metric Imperial Metric INDUCTIVE SENSORS AND VALVE MOUNTING KIT Maximum Tensile T 1200 lbs. 5338 N 125 lbs. 556 N .78 [20] Maximum Compressive C 1200 lbs. 5338 N 125 lbs. 556 N Maximum Moment M 1000 in.-lbs. 113 Nm 100 in.-lbs. 11 Nm x Maximum Moment M 1500 in.-lbs. 170 Nm 125 in.-lbs. 14 Nm y 1.94 [49] .26 [7] BRACKET 3.87 [98] Maximum Moment M 1000 in.-lbs. 113 Nm 100 in.-lbs. 11 Nm z ADJUSTABILITY † 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 RPW SERIES FINGER FORCE - F/2 100 PSI [7 bar] 80 PSI [5.5 bar] 60 PSI [4.1 bar] 40 PSI [2.7 bar] 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 217 PARALLEL GRIPPER RPW-625M-2 WIDE BODY SERIES Specifications RPW-625-2 RPW-625M-2 Total Rated Grip Force F @ 100 psi, 7 bar240 lb 1068 N Stroke........................................................ 3.50 in. 88.9 mm Weight ....................................................... 7.8 lb 3.6 Kg 1.217 Pressure Range......................................... 40-100 psi 3-7 bar Cylinder Bore Ø ......................................... 1.625 in. 41.3 mm 2X Ø .1875 SF X .26 DP [Ø 5 H7 X 6 DP] 6X 1/4-20 X .42 DP [M6 X 10 DP] 3 3 Displacement ............................................ 2.310 in. 37.9 cm 1.125 [28.6] C L Temperature Range Standard Seals....................................... -30°~180° F -35°~80° C ® Viton Seals ............................................ -20°~300° F -30°~150° C 2X 3.240 C L [82.3] (JAW) Actuation ................................................... 0.69 sec. 0.69 sec. Accuracy ................................................... ±0.003 in. ±0.08 mm Repeatability ............................................. ±0.001 in. ±0.03 mm Valve required to actuate double acting.... 4-way, 2-position 2.5000 [63.50] 3.250 [82.6] (BODY) 5.375 [136.5] 2X Ø .1875 SF X .26 DP [Ø 5 H7 X 6 DP] (THIS FACE ONLY) UNLESS OTHERWISE NOTED ALL 1.2500 [31.75] 3X 5/16-18 X .56 DP TOLERANCES ARE AS SHOWN BELOW [M8 X 14 DP] (THIS FACE ONLY) C L Dimensions are All Dowel Holes are SF (Slip Fit). Third Angle symmetrical about Locational Tolerance 2X 2.615 Projection C L [66.4] (JAW) centerline ±.0005" or [±.013mm] Imperial in. Metric [mm] 2X 1.735 [44.1] 0.00 = ±.01 [0.] = [±.25] 2.500 Metric Threads 2.625 [66.7] 0.000 = ±.005 [0.0] = [±.13] [63.5] (BODY) Course Pitch 0.0000 = ±.0005 [0.00] = [±.013] .24 [6] 3X #6-32 X .12 DP [M3 X 3 DP] (SENSOR MNTG HOLES) .37 [9] .25 [6] .66 2X 1/8 NPT [G1/8"] AIR PORTS (OPEN) 1.71 .21 [5] [17] [43] C L 1.06 [27] C L .11 [3] 4X Ø .1875 SF X .38 DP 1.3125 2.250 C C L L [Ø 5 H7 X 9 DP] [33.34] [57.1] 2X #4-40 X .30 DP [M3 X 7 DP] 8X 5/16-18 X 1.00 DP (SENSOR [M8 X 25 DP] TARGET MNTG HOLES) 2.17 [55] CLOSE 1.625 [41.3] 12.63 [321] (OPEN) 9.13 [232] (CLOSED) JAWS SHOWN OPEN Loading Information How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 534 120 BASIC MODEL NON-SYNCHRONOUS 445 100 WARNING! DO NOT EXCEED 356 80 MAXIMUM EFFECTIVE NS RPW-625 M -2- - V FINGER LENGTHS 267 60 ® 178 40 METRIC VITON SEALS ORDER # QTY/UNIT SENSOR ACCESSORIES 89 20 Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-074 1 0 0 * NPN Inductive Sensor with Quick Disconnect OISN-011 1 or 2 0 3 6 9 12 15 in. * 0 76 152 229 305 381mm PNP Inductive Sensor with Quick Disconnect OISP-011 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 Z Z PNEUMATIC ACCESSORIES MZ Fail Safe Valve (Imperial) OFSV-002 1 Fail Safe Valve (Metric) OFSV-005 1 X Standard Seal Repair Kit SLKT-071 1 Y ® L Viton Seal Repair Kit SLKT-071V 1 T C F/2 F/2 *Sensor and cable sold separately. M X MY Static Dynamic † INDUCTIVE SENSORS AND FAILSAFE Loading Capacity Imperial Metric Imperial Metric VALVE MOUNTING KIT .78 [20] Maximum Tensile T 1200 lb 5338 N 125 lb 556 N Maximum Compressive C 1200 lb 5338 N 125 lb 556 N Maximum Moment M 1000 in.-lb 113 Nm 100 in.-lb 11 Nm x Maximum Moment M 1500 in.-lb 170 Nm 125 in.-lb 14 Nm y 1.95 [49] .26 [7] BRACKET 3.87 [98] ADJUSTABILITY Maximum Moment M 1000 in.-lb 113 Nm 100 in.-lb 11 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 RPW SERIES 100 PSI [7 bar] 80 PSI [5.5 bar] 60 PSI [4.1 bar] 40 PSI [2.7 bar] 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 218 PARALLEL GRIPPER RPW-750M WIDE BODY SERIES Specifications RPW-750 RPW-750M Total Rated Grip Force F @ 100 psi, 7 bar470 lb 2091 N Stroke........................................................ 4.50 in. 114.3 mm Weight ....................................................... 14 lb 6.4 Kg 2X Ø .3125 SF X .34 DP [Ø 8 H7 X 9 DP] 1.218 Pressure Range......................................... 40-100 psi 3-7 bar C 1.500 [38.1] L Cylinder Bore Ø ......................................... 2.000 in. 50.8 mm 3 3 Displacement ............................................ 14.200 in. 232.7 cm Temperature Range 2X 3.928 C L Standard Seals....................................... -30°~180° F -35°~80° C [99.8] (JAW) ® Viton Seals ............................................ -20°~300° F -30°~150° C Actuation ................................................... 1.00 sec. 1.00 sec. Accuracy ................................................... ±0.003 in. ±0.08 mm 6X 5/16-18 X .50 DP [M8 X 12 DP] 3.937 [100.0] Repeatability ............................................. ±0.001 in. ±0.03 mm 5.5000 [139.70] (BODY) Valve required to actuate double acting.... 4-way, 2-position 7.125 [180.9] 2X Ø .3125 SF X .50 DP [Ø 8 H7 X 12 DP] (THIS FACE ONLY) 4X 3/8-16 X .68 DP [M10 X 16] (THIS FACE ONLY) UNLESS OTHERWISE NOTED ALL C L TOLERANCES ARE AS SHOWN BELOW Dimensions are All Dowel Holes are SF (Slip Fit). 2X 2.942 Third Angle C L symmetrical about Locational Tolerance Projection [75.0] (JAW) centerline ±.0005" or [±.013mm] Imperial in. Metric [mm] 2.952 [75.0] 2.500 2X 1.960 [49.8] 0.00 = ±.01 [0.] = [±.25] Metric Threads (BODY) [63.5] 0.000 = ±.005 [0.0] = [±.13] Course Pitch 0.0000 = ±.0005 [0.00] = [±.013] 4.0000 [101.60] 5.500 [139.7] 2X #10-32 X .25 DP [M5 X 6 DP] (SENSOR MNTG HOLES) 1.19 .38 [10] [30] 2X 1/8 NPT [G1/8"] AIR PORTS (OPEN) 1.00 1.62 .19 [25] [41] C L C [5] 1.25 [32] L .19 [5] 3.375 C C 4X Ø.3125SF X 1.00 DP 2.3750 L L [85.7] [60.33] [Ø 8 H7 X 12 DP] 8X 3/8-16 X 1.00 DP [M10 X 25 DP] 3.00 [76] 1.660 2X #8-32 X .25 D [M4 X 6 DP] [42.2] (SENSOR CLOSE TARGET MNTG HOLES) 16.14 [410] (OPEN) 11.65 [296] (CLOSED) JAWS SHOWN OPEN Loading Information How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 1113 250 BASIC MODEL NON-SYNCHRONOUS 890 200 WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE 668 150 RPW-750MV - NS - FINGER LENGTHS 445 100 ® METRIC VITON SEALS 223 50 ORDER # QTY/UNIT SENSOR ACCESSORIES Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) OSMK-014 1 0 0 * NPN Inductive Sensor with Quick Disconnect OISN-011 1 or 2 0 4 8 12 16 20 in. 0 102 203 305 406 508mm * PNP Inductive Sensor with Quick Disconnect OISP-011 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 Z Z PNEUMATIC ACCESSORIES MZ Fail Safe Valve (Imperial) OFSV-002 1 Fail Safe Valve (Metric) OFSV-005 1 X Standard Seal Repair Kit SLKT-060 1 Y ® L Viton Seal Repair Kit SLKT-060V 1 T C F/2 F/2 *Sensor and cable sold separately. M X MY INDUCTIVE SENSORS AND FAILSAFE Static Dynamic MOUNTING KIT VALVE † Loading Capacity Imperial Metric Imperial Metric .88 [22] Maximum Tensile T 2500 lb 11121 N 250 lb 1112 N Maximum Compressive C 2500 lb 11121 N 250 lb 1112 N Maximum Moment M 2000 in.-lb 226 Nm 200 in.-lb 22 Nm x Maximum Moment M 3000 in.-lb 339 Nm 250 in.-lb 28 Nm y .36 [9] BRACKET 4.04 [103] 2.20 [56] ADJUSTABILITY MIN. Maximum Moment M 2000 in.-lb 226 Nm 200 in.-lb 22 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 RPW SERIES FINGER FORCE - F/2 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 219 RPW Series Exploded View Item Qty Name 01 1 Body 1.219 03 2 Piston 04 2 Cap 05 2 Shaft 06 1 Gear Cover 07 1 Gear 09 2 Shaft, Piston 10 2 Shaft,Gear 20 2 Block, End W/ Target Holes 21 1 Bearing, Needle 22 1 Dowel Pin 23 1 Ball NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure 1) Lubricate and install seals. 2) Install pistons and shafts.* 3) Place piston caps and retaining rings into body 4) Install tooling plates and shafts 5) Place bearing, shaft, and gear** into body and install cap and retaining ring.for sync. version: a) For disassembly, use magnet to pull gear out of body. b) Install 2 rack shafts with teeth facing syncing gear. Non-Synchronous Procedure 1) Take RPW synchronous gripper and remove the retainer ring and gear cover. 2) Slide out dowel pin and bearing. 3) Remove gear from gripper. (a magnet is often very helpful in removing the gear.) 4) Replace the dowel pin, gear cover, and retainer ring. The gripper is now non-synchronous. SK Seal Repair Kit Order #’s See Product Data Sheets SK KR KRYTOX YTOX ™ ® Seal Kit Thread Krytox Lightweight Teflon Based Super Third Angle Items Locker Lubricant Machine Oil Grease Bonder Projection 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 SK SK 1 SK 3 SK 23 4 SK 5 7 9 21 22 SK 6 SK SK 10 20 RPW SERIES MAINTENANCE 1.196-1.221 (DPW_RPW)_1.182-1.207 (RPW, DPW) 2/14/11 11:37 PM Page 220 RPW Series Assembled View Item Qty Name 01 1 Body 1.220 03 2 Piston 10 04 2 Cap 05 2 Shaft 06 1 Gear Cover 07 1 Gear 09 2 Shaft, Piston 1 10 2 Shaft,Gear 20 2 Block, End W/ Target Holes 21 1 Bearing, Needle 22 1 Dowel Pin 23 1 Ball 20 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 4 3 9 Accessory Installation & Adjustment Instructions Install target as shown, install sensors as shown, adjust for proper end of stroke sensing. 1 4 5 7 1 23 6 8 SK KR KRYTOX YTOX ™ ® Seal Kit Thread Krytox Lightweight Teflon Based Super Third Angle Items Locker Lubricant Machine Oil Grease Bonder Projection 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 RPW SERIES MAINTENANCE