Engineering Data
ENGINEERING DATA: series GRR GRIPPERS
[GUARDIAN)
SPECIFICATIONS
SERIES GRR
OPERATING PRESSURE (STANDARD UNIT) 30 psi min to 120 psi [2 bar min to 8 bar] max air
OPERATING TEMPERATURE -20°F to +180°F [-28°C to +82°C]
Higher temperature service available. Consult PHD
RATED LIFE 5 million cycle minimum with standard seals
GRIP REPEATABILITY Within +0.002 in [£0.05 mm] of original centered position
CYCLE TIME See table below
LUBRICATION Factory lubricated for rated life
MAINTENANCE Field repairable
GRIP FORCE FACTOR Gr
GRIP FORCE VARIES WITH TOOLING LENGTH
TRAVEL
MODEL NUMBER i
GRRx2-x-63 x 150
GRRx2-x-63 x 200
GRRx2-x-63 x 250
GRRx2-x-63 x 300
GRRx2-x-63 x 350
IMPERIAL
MINIMUM CLOSE OR
TOTAL JAW GRIPPER OPENTIME | ONE DIRECTION | > <
WEIGHT 87 psi [6 bar] | DISPLACEMENT EXTERN INTERNAL GRIP
469
MAXIMUM ALLOWABLE FORCES AND MOMENTS
MODEL NUMBER FA X MY Wz
Ib N in-lb | Nm | in-lb | Nm [ in-lb | Nm
GRRx2-x-63x 150 | 3500
GRRx2-x-63 x 200 | 3500
GRRx2-x-63 x 250 | 3500
GRRx2-x-63x 300 | 3500
GRRx2-x-63x 350 | 3500
Fa: Total for both jaws.
Mx: Allowable moment per jaw, measured from jaw mounting surface.
My: Allowable moment per jaw, measured from geometric center of jaw.
Mz: Allowable moment per jaw, measured from jaw mounting surface.
15570 | 9000 | 990 | 7500 | 825 | 7500 | 825
15570 | 9000 | 990 | 7500 | 825 | 7500 | 825
15570 | 9000 | 990 | 7500 | 825 | 7500 | 825
sk
L
When calculating the value for Fa, include weight of tooling, part
15570 | 8000 | 880 | 6500 | 715 | 6500 | 715 4
15570 | 9000 | 990 | 7500 | 825 | 7500 | 825 Fa
weight, acceleration, and external forces. When calculating values 各 100
for Mx, My, and Mz, include the grip force per jaw, part weight, E 095
external forces, and acceleration as applicable. T 090 /igg 2:
& 小
MOMENT VALUES ASSUME THE USE 要 55 /|-250mm
OF ALL THREADED MOUNTING HOLES. g "% 二 200mm
三 075 150 mm
TOOLING LENGTH FACTOR 8 oo
Jaw tooling should be designed so that the grip point is as close to the
jaw surface as possible. As the grip point is moved away from the jaw
surface, the applied moment causes jaw friction to increase, resulting
in reduced effective grip force. The grip force factor (Gr) values given
in the table above are for zero tooling length (jaw surface).
TOOLING LENGTH in [mm]
The maximum load that grippers can handle will vary based on: size
of the part being picked up, shape of the part, texture of the part,
speed at which the part is transferred, working pressure, shape of
the fingers, etc. PHD recommends that the fingers of jaws be tooled
or machined to conform to the shape of the part being gripped.
Application &
Sizing Assistance
Use PHD’s free online Product Sizing
Application at www.phdinc.com/apps/sizing
2 4 6 8 10 12 14 16 18 20
[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]
SOLUTIONS
GRRO4 www.phdinc.com/grr * (800) 624-8511
FOR
INDUSTRIAL AUTOMATION
