SERIES GRR GRIPPER - PHD, Inclitstore.phdinc.com/pdf.asp?filename=MGRR03B_EU.pdf• Compact design...

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SERIES GRR GRIPPER

MGRR03B-EU

TRAVEL LIMITING STOPSTRAVEL

ADJUSTMENT COLLARS

PROXIMITY SWITCHES

RODLOK OPTION

JAW POSITION SENSOR OPTION

The New Standard in High Force, Long Travel, Robust Capacity Gripping.

U.S. PATENT #7,490,881

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ORDERING DATA: SERIES GRR GRIPPERS

INDEX:

© Copyright 2012, by PHD, Inc. All Rights Reserved. Printed in the U.S.A.

Engineering DataPages 6 and 7

DimensionsPages 8 and 9

OptionsPages 10 to 14

AccessoriesPages 12 to 17

Exploded Views & Parts ListsPage 18

Application ExamplesPage 19

Unique Gripper Solutions0

Ordering DataPages 2 and 3

BenefitsPages 4 and 5

TO ORDER SPECIFY:Product Line, Series, Type, Synchronization, Jaw, Design No.,Size, Total Jaw Travel, and Options required.

2 -63 x1RRG

PRODUCT LINEG - Gripper

SERIESRegular Duty

TYPELong Travel,

High Capacity,Parallel Gripper

SYNCHRONIZATION0- Non-synchronized1- Synchronized2- Non-synchronized

independently powered jaws

JAWStyle 2

- 6

DESIGN NO.(See Note 1)2 - Imperial6 - Metric

-

BORE SIZE MINIMUM TOTAL JAW TRAVEL150 = 150 mm (5,906 in)200 = 200 mm (7,874 in)250 = 250 mm (9,843 in)350 = 350 mm (13,780 in)

OPTIONS(OMIT IF NOT REQUIRED)

PORT OPTIONS

200 Z1 - H47

OPTIONS(OMIT IF NOT REQUIRED)

JAW TRAVEL LIMITING OPTIONSGRR02, GRR12 & GRR22

ANxxx - Jaw travel limitation on open,both jaws

ATxxx - Jaw travel limitation on closed,both jawsGRR02 & GRR22 ONLY

APxxx - Jaw travel limitation on open,Jaw A only

AQxxx - Jaw travel limitation on open,Jaw B only

ARxxx - Jaw travel limitation on closed,Jaw A only

AUxxx - Jaw travel limitation on closed,Jaw B only

OPEN POSITION

CLOSED POSITION

15

AA26

99

3748

JAW B

JAW A

Total Jaw Travel =(Open position - Closed Position)

NOTES:1) Design number indicates imperial

or metric mounting holes and ports. Dowel pin holes are metric regardless of design number.

2) Standard unit is Rodlok ready.3) Available on GRR1 only. GRR1 unit

is SPP99 ready.4) Available on GRR1 only. -STT99

option must be ordered with the gripper. Only sensor replacement kits are available.

L9 - NPT Ports (metric units only)UNIT OPTIONS

H47 - Rodlok (See Note 2)V1 - Fluoro-Elastomer Seals

except for Rodlok mechanismZ1 - Corrosion resistant coating on

exposed parts except for Rodlok mechanism and Rodlok rod

SENSOR OPTIONSSPP99 - Rotary jaw position sensor

installed (see Note 3)STT99 - Coupled rotary jaw position

sensor installed (see Note 4)

Unique grippers are available. Please consult PHD.

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ORDERING DATA: SERIES GRR GRIPPERS

REPLACEMENT STT99 JAW POSITION SENSOR KITS

KIT STANDARDCORROSION RESISTANT

Sensor Replacement Kit 84404-11 84404-12

SPP99 JAW POSITION SENSOR KITS


Sensor Replacement Kit 74209-31 74209-32

8 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION51422-005-02 NPN (Sink), 2 meter cable51422-006-02 PNP (Source), 2 meter cable

8 mm & 12 mm THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS

STANDARD CORROSION RESISTANT74994-31 74994-32

Kit includes 1 proximity switch target and 2 target mounting screws

THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS

8 mm SWITCHCORROSION RESISTANT

8 mm SWITCH12 mm SWITCH

CORROSION RESISTANT 12 mm SWITCH

74992-31 74992-32 74993-31 74993-32Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw

12 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION

15561-001 NPN (Sink), 2 meter cable15561-002 PNP (Source), 2 meter cable15561-003 VAC Solid State, 3 meter cable

Kit includes 1 jaw position sensor, 2 mounting screws, 1 seal and spring

Kit includes 1 jaw position sensor, 2 mounting screws, 1 seal and 1 coupling seal

U.S. PATENT#7,490,881

coated steel inserts offer superior strength, corrosion resistant mounting threads

rack and pinion synchronizer on model GRR12(see details above)

TC fluoropolymer compositebushings provide long life, are contamination and impact resistant

one piece case hardened ground jaw guidesprovide high precision and durability

shaft wipers on jaw guidesprotect bearings from external

contamination

internal lubrication is provided forextended life without maintenance

hardcoated aluminum piston

rod for wear resistance

proximity switches availablefor sensing jaw position

jaw position sensoravailable for continuous

jaw position feedback

ball bearings support pinionfor smooth operation and long life

stainless tubing enclosesrack to protect from contaminationand to maintain lubrication

rack and pinion synchronizerminimizes backlash

TC fluoropolymer composite bushings provide wear resistance

now available in 150, 200, 250 &

350 mm total jaw travels

keyed base and end plates ensure

alignment

pressure energized seals for low breakaway. Seals

available in Fluoro-Elastomer

optional Rodlok holdsjaw position if air pressure is lost

corrosion resistant option for increased protection

open and close port symbols simplifyinstallation

FEATURES & BENEFITS

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NARROw wIDTH AND LONG TRAvEL

SERIES GRR GRIPPER

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Major Benefits

• Narrowwidthandawiderangeofavailablejawtravels • Compactdesignprovideshighgripforceandlarge

moment capacities with low overall weight. • Ruggedbuildwithstandshighimpactandshockloads. • Doubleactingforbothinternalandexternalgripping. • Uniquedualair-passagepistonroddesignpromotesrapidborepressurizationforshortcycletimes.

• Threelargediameterjawguidesspanningthelengthofthegripperprovidestablejawtravel,longallowabletooling length, and high moment capacities.

• TCfluoropolymercompositeguideshaftbushingsprovidelonglifeandsmoothjawtravelindemandingindustrial environments.

• Synchronizerisenclosed,protectingthemechanismfromdebris.

• Non-synchronizedandindependentlycontrolledjawsallowflexibilitytosupportdiverseapplications.

• OptionalRodlok locks the jaws in a stationary position in

the event air pressure is lost. • Optionalanalogoutputsensorcontinuouslymonitorsentirejawtravel.Gripperis“sensorready”forSPP99optionwhichallowsthesensortobefactoryinstalledoreasilyinstalledinthefield.STT99optioncannotbeadded in the field and must be ordered in conjunction with the gripper.

• Proximityswitchesareavailablefordiscreteindicationofjawposition.

Industry Uses

• Materialhandlingofrolls,barrels,pallets,andcontainers

• Movementoflargesandandinvestmentcastings • Smallengineblockmanufacture • Automotive,aeronautical,andagriculturalwheelrimmanufacture

• Clampingandfixturingduringassemblyoperations • Gagingandsortingoflargepartsandassemblies • Centeringandregistrationofheavyparts • Incorporationintospace-restrictedprocessingandmanufacturingequipment

ListmarksofPHDwhichappearonpromotionalmaterialareregisteredtrademarksofPHD,Inc.

Design Enhancements

• 75%Highermomentcapacity• 55%Highergripforce• 25%Higherspeed• 10%Lowerweight• Additionalaccessories• Continuousfeedbackjawpositionsensor• Extensiveengineeringanalysisandtestingassure performance (HALF MODEL SHOWN)

SERIES GRR GRIPPER

Stress Analysis Plot psi [kPa]30000 [200.000]

25000 [170.000]

20000 [140.000]

15000 [100.000]

10000 [70.000]

5000 [35.000]

0

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ENGINEERING DATA: SERIES GRR GRIPPERS

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

in5,917,879,8413,8

cm3

472629787

1098

MINIMUMTOTAL JAW

TRAVELIMPERIAL

8,09

METRIC

522

EXTERNAL GRIPIMPERIAL

7,27

METRIC

469

INTERNAL GRIP

CLOSE OROPEN TIME

87psi [6 bar]sec0,280,360,420,57

GRIP FORCE FACTOR GF

GRIP FORCE VARIES WITH TOOLING LENGTH

lb28,033,039,249,0

mm150200250350

in3

28,838,448,067,0

kg12,715,017,822,2

GRIPPERWEIGHT

SERIES GRR

30 psi min to 120 psi [2 to 8 bar] max air-20� to +180�F [-28� to +82�C]

Higher temperature service available. Consult PHD.5 million cycles minimum with standard seals

Within �0,002 [�0,05 mm] of original centered positionSee table below

Factory lubricated for rated lifeField repairable

SPECIFICATIONSOPERATING PRESSURE

STANDARD UNITOPERATING TEMPERATURE

RATED LIFEGRIP REPEATABILITYCYCLE TIMELUBRICATIONMAINTENANCE

MODELNUMBER

GRRx2-x-63 x 150GRRx2-x-63 x 200GRRx2-x-63 x 250GRRx2-x-63 x 350

lb3500350035003500

FaN

15570155701557015570

in-lb8000900090009000

MxNm880990990990

in-lb6500750075007500

MyNm715825825825

in-lb6500750075007500

MzNm715825825825

MAXIMUM ALLOWABLE FORCES AND MOMENTS

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.

ONEDIRECTION

DISPLACEMENT

0,70

0,75

0,85

0,90

0,95

1,00

0 2 4 6 8 10 12 14 16 18 20

TOO

LIN

G L

ENG

TH F

ACTO

R

350 mm

200 mm

250 mm

150 mm

[50]

TOOLING LENGTH in [mm]

[100] [150] [200] [250] [300] [350] [400] [450] [500]

0,80

TOOLING LENGTH FACTORJaw tooling should be designed so that the grippointisasclosetothejawsurfaceaspossible. Asthegrippointismovedawayfromthejawsurface, theappliedmomentcausesjawfrictiontoincrease, resultinginreducedeffectivegripforce.Thegripforce factor(GF)valuesgiveninthetableaboveareforzero toolinglength(jawsurface).

Themaximumloadthatgripperscanhandlewill varybasedon:sizeofthepartbeingpickedup,shape ofthepart,textureofthepart,speedatwhichthepartis transferred,workingpressure,shapeofthefingers,etc.PHDrecommendsthatthefingersofjawsbetooledormachinedtoconformtotheshapeofthepartbeinggripped.

WhencalculatingthevalueforFa,includeweightoftooling,partweight,acceleration,andexternalforces.WhencalculatingvaluesforMx,My,andMz,includethegripforceperjaw,partweight,externalforces,andaccelerationasapplicable.

NOTE: Moment values assume the use of all threaded mounting holes.

My

Mx

Fa

Mz

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Alldimensionsarereferenceonlyunlessspecificallytoleranced.

ENGINEERING DATA: SERIES GRR GRIPPERS

300

400

500

600

700

800

900

150 mm Travel

TOTA

L G

RIP

FO

RCE

lb

[N]

200 mm Travel

250 mm Travel

350 mm Travel

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

CLOSEOPEN

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300

400

500

600

700

800

900

TOTA

L G

RIP

FO

RCE

lb

[N]

[1334]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]


400

500

600

700

800

900

TOTA

L G

RIP

FO

RCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

400

500

600

700

800

900

TOTA

L G

RIP

FO

RCE

lb

[N]

[1779]

[2224]

[2669]

[3114]

[3559]

[4003]

300[1334]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

0 2 4 6 8 10 12 14 16 18 20[50] [100] [150] [200] [250] [300] [350] [400] [450] [500]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]


TOOLING LENGTH in [mm] TOOLING LENGTH in [mm]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

87 psi [6 bar]

100 psi [7 bar]

60 psi [4 bar]

PART

F = TOTAL GRIP FORCE

F/2F/2

JawSurface

ToolingLength

GRIP FORCETotalgrippingforcerelativetotoolinglengthisshownbelowatthestatedactuatingpressure.Gripforceperjawequalsthetotalgripforcedividedbytwo.Thegraphsalsoindicatethemaximumtoolinglengthforeachgrippersize.

GRIP FORCE CALCULATION EqUATIONS:

IMPERIAL:

TOTAL GRIP FORCE [lb] = (Pressure [psi] x GF ) x Tooling Length Factor

METRIC: TOTAL GRIP FORCE [N] = (Pressure [bar] x GF) x Tooling Length Factor

GRIP FORCE CALCULATION EXAMPLE:Gripper: Series GRR Size 63 x 200Common Parameters: Operating Pressure = 87 psi [6 bar] Tooling Length = 10 in [254 mm]

1. Determine Grip Force Factor GF =8,09[522](fromtableonpage6)

2. Determine Tooling Length Factor =0,84[0,84](fromToolingLengthFactorgraph)

3. Total Grip Force Calculations: For Standard Unit: GRR12-2-63 x 200 [GRR12-6-63 x 200] Total Grip Force = 87 psi x 8,09 x 0,84 = 591 lb [6 bar x 522 x 0,84 = 2630 N]

PART

F = TOTAL GRIP FORCE

F/2F/2

JawSurface

ToolingLength

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NOTES:1) DESIGNATED C IS CENTERLINE OF UNIT.2) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm.3) CIRCLED NUMBERS INDICATE POSITION.4) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION.

A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.5) **PLUGGED PORTS P1 & P2, CAN BE USED FOR GRIPPER ACTUATION.

L

2

3

1

4 CL

5

6

CL

J8

B3

B8

J2

JAW PROFILE(CONSULT

PHD FOR MOREINFORMATION)

10X MANUFACTURINGHOLES (CONSULT PHDFOR MORE INFORMATION)

FOR OPTIONAL -SPP99SENSOR MOUNTING.

SEE OPTIONS SECTIONFOR DIMENSIONS

4X P2 PORT **(PLUGGED)

4X K8 ��,00030 [H7]DOWEL PIN HOLE

16X K7 THD(THREADED INSERTS)

K5K6

K4K3K2

K1

B1

P7

P8

P6

B2

FOR PROXIMITY SWITCHMOUNTING, SEE ACCESSORIESSECTION FOR DIMENSIONS

FOR OPTIONAL -H47SEE OPTIONS FORDIMENSIONS

P1 PORT(CLOSE)

P1 PORT(OPEN)

2X P1 PORT**(PLUGGED)

P5

P4

B52X J1B4

P3

CL

CL

2X MANUFACTURING HOLES(CONSULT PHD FOR MORE INFORMATION)

8X J6 THD(THREADED

INSERTS)

4X J7 + 0,00040/- 0,00030 [H7]DOWEL PIN HOLE

A OPEN*A CLOSED*

J4

J5

J3

J9

2X � B7(SECONDARYJAW GUIDE)

� B6 (PRIMARY JAW GUIDE)

DIMENSIONS: SERIES GRR GRIPPERS


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DIMENSIONS: SERIES GRR GRIPPERS

mm

75,0120,0270,0439,888,990,025,425,125,419,1158,8105,188,960,066,033,0

M12 x 1,75 x 25,0 DP12,0 x 15,9 DP

161,947,045,0320,0209,8159,0108,260,0

M8 x 1,25 x 19,0 DP8,0 x 19,0 DP

1/4 BSPP1/8 BSPP

9,5114,382,68,710,515,0

LETTERDIM

MIN. TRAVELPER JAW

A CLOSED*A OPEN*

B1B2B3B4B5B6B7B8J1J2J3J4J5J6J7J8J9K1K2K3K4K5K6K7K8P1P2P3P4P5P6P7P8

in

2,9534,724

10,63017,3143,5003,5431,0000,9901,0000,7506,2504,1363,5002,3622,598

1,29901/2-13 x 1,00 DP

0,47275 x 0,625 DP6,3751,8501,773

12,5988,2606,2604,260

2,36203/8-16 x 0,750 DP

0,31525 x 0,750 DP1/4 NPT1/8 NPT0,3754,50

3,2500,3440,4130,591

GRRx2-x-63 X 150MODEL NUMBER

in

3,9375,50413,37921,2513,5003,5431,0000,9901,0000,7506,2505,1203,5002,3623,5441,7720

1/2-13 x 1,00 DP0,47275 x 0,625 DP

6,3752,2401,77314,9608,2606,2604,2602,3620

3/8-16 x 0,750 DP0,31525 x 0,750 DP

1/4 NPT1/8 NPT0,3754,503,2500,3440,4130,591

GRRx2-x-63 X 200mm

100,0139,8339,8539,888,990,025,425,125,419,1

158,8130,088,960,090,045,0

M12 x 1,75 x 25,0 DP12,0 x 15,9 DP

161,956,945,0

380,0209,8159,0108,260,0

M8 x 1,25 x 19,0 DP8,0 x 19,0 DP

1/4 BSPP1/8 BSPP

9,5114,382,68,7

10,515,0

in

4,9215,504

15,34726,0163,5003,5431,0000,9901,0000,7506,2506,5183,5002,3623,544

1,77201/2-13 x 1,00 DP

0,47275 x 0,625 DP6,3752,2401,773

14,9608,2606,2604,260

2,36203/8-16 x 0,750 DP

0,31525 x 0,750 DP1/4 NPT1/8 NPT0,3754,50

3,2500,3440,4130,591

mm

125,0139,8389,8660,888,990,025,425,125,419,1

158,8165,688,960,090,045,0

M12 x 1,75 x 25,0 DP12,0 x 15,9 DP

161,956,945,0

380,0209,8159,0108,260,0

M8 x 1,25 x 19,0 DP8,0 x 19,0 DP

1/4 BSPP1/8 BSPP

9,5114,382,68,7

10,515,0

GRRx2-x-63 X 250in

6,89012,99226,77233,8903,5003,5431,0000,9901,0000,7506,2508,4873,5002,3623,544

1,77201/2-13 x 1,00 DP

0,47275 x 0,625 DP6,3755,9841,773

23,2288,2606,2604,260

2,36203/8-16 x 0,750 DP

0,31525 x 0,750 DP1/4 NPT1/8 NPT0,3754,50

3,2500,3440,4130,591

mm

175,0330,0680,0860,888,990,025,425,125,419,1158,8215,688,960,090,045,0

M12 x 1,75 x 25,0 DP12,0 x 15,9 DP

161,9152,045,0590,0209,8159,0108,260,0

M8 x 1,25 x 19,0 DP8,0 x 19,0 DP

1/4 BSPP1/8 BSPP

9,5114,382,68,710,515,0

GRRx2-x-63 X 350

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MODEL/OPTIONS: SERIES GRR GRIPPERS

METRIC UNIT WITH IMPERIAL (NPT) PORTS

CORROSION RESISTANT

Thisoptionprovidesacorrosionresistantcoatingonallferrouspartsforuseinapplicationswherethestandardpartsmaycorrode.NOTE: Rodlok andRodlokrod,partof-H47option,arenotcorrosion resistant.

Fluoro-elastomersealsandPTFEjawguidescrapersareavailableto achieve seal compatibilitywithcertainfluids.Sealcompatibilityshouldbecheckedwiththefluidmanufacturerforproper application. NOTE:Rodlok(partof-H47option)doesnotinclude-V1components.ConsultPHDforfluidcompatibilitywith-STT99and-SPP99option.ConsultPHDforhightemperatureuse.

FLUORO-ELASTOMER SEALS

L9

Z1 V1

Thismodelsynchronizesthejawsforusewithpartsthatmustbecentered.Jawsarepressurizedbyasinglesetofports.

GRR12 SYNCHRONIZED

Thismodelallowseachjawtomoveindependentlywhilebeingpres-surizedbyasinglesetofports.Thisfeatureallowsthegrippingofoff-centerparts.

GRR02 NON-SYNCHRONIZED

Thismodeladdstheabilitytoindependentlypowereachjaw.Thejawsarenotsynchronizedandmaybecycledatdifferingratesorpressures.

GRR22NON-SYNCHRONIZED AND INDEPENDENTLY POWERED JAWS

PART

PART

PART

OPEN

CLOSE

OPEN

CLOSE

OPEN

CLOSE

PART

PART OFF CENTER

CLOSE

OPENJAW B JAW A

JAW B

JAW B

JAW A

JAW A

EXTERNAL TOOLING

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ATXXX

ANXXX

25,1 mm

APxxxARxxxAUxxxAQxxx

� 1,48 in[37,6 mm]

JAW B JAW A

JAW B JAW A

OPTIONS: SERIES GRR GRIPPERS

Theseoptionsprovidecorrosionresistantjawtravelstoptubesforuseinlimitingjawtravelonopenorclose.Thetravellimitingstoptubes provide a repeatable positive stop.

Model(GRR12)requiresidenticalstopsforbothjawswhiletravelingin the same direction. Synchronized units may only use the ANxxx andATxxxoptions.Non-synchronizedmodels(GRR02&GRR22)mayusetheAPxxx,ARxxx,AUxxx,orAQxxxinanycombinationforlimitingthetravelofeitherjawindependently.

ANxxx

AVAILABLE ON GRR02, GRR12, & GRR22

ATxxx

TRAVEL LIMITING STOPSNon-synchronizedunitsmayalsobeorderedwithANxxxorATxxxoptions.

Travellimitingtubesareavailableinlengthsfrom3,0to99,9mmin0,1 mm increments.

For adjustable jaw travel, see travel adjustment collars on page 17.

APxxx

AVAILABLE ON GRR02 & GRR22 MODELS ONLY

ARxxx AUxxx AqxxxEXAMPLE: -ATxxxstopwith25,1mmlength=-AT251

NOTE:Option’sxxxarein0,1mmincrementswithimplieddecimalpointoneplacefromright,and must be 3 digits long with values ranging between 03,0 and 99,9 mm.


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L10

L13

L11L12

L5

L17NPT PORT ADAPTOR

L8

5

6

4 2

L1

L2

B2

L9L7

L4

B1

L3

L16

1

4 2

3

-H47 OPTION ONGRR02 & GRR22

-H47 OPTION ONGRR02, GRR12 & GRR22

1/8 NPT* (GRRx2-2)[1/8 BSPP (GRRx2-6)]

RODLOK PORT MUST BE PRESSURIZED BEFORE

OPERATING GRIPPER

L6

RODLOK ROD

PHD’sRodlok isidealforlockingthejawswhileinastatic/stationaryposition.WhenthepressureisremovedfromtheportoftheRodlok,themechanismwillgripontheexternalguideshaftandpreventthejawsfrommoving.Theloadsareheldindefinitelywithoutpower.Rodlok performanceisapplicationandenvironmentsensitive.CleanlinessofshaftorRodlokwillalsoaffectperformance.

H47 RODLOK

THE RODLOK IS NOT DESIGNED TO BE USED AS A PERSONNEL SAFETY DEVICE.

Option-H47providestheRodlok pre-assembledtothegripper.TheportoftheRodlokdevicewillbeinposition5.

Option-H47maybepurchasedwiththe-Z1(corrosionresistant)optionand-V1(fluidcompatibility)option.HowevertheRodlokand Rodlok rodDONOTPROVIDEcorrosionresistanceorfluidcompatibility.

OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS

GRR02 & GRR22 WITH -H47 OPTIONGRR12 WITH -H47 OPTION

OPERATING PRESSURETheoperatingpressureforthelockingdeviceisdifferentthantheoperatingpressureforthegripperwith the Rodlok attached.Thelockingdeviceofthe Rodlok is designed with an operating pressure rangeof60psiminimumto150psimaximum [4 to 10 bar.]

TheSeriesGRRGripperwithRodlokattachedhasanoperatingpressurerangeof30psiminimumto120 psi maximum [2 to 8 bar.]

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L14 = WEIGHT ADDER FOR GRR12L15 = WEIGHT ADDER FOR GRR02 & GRR22NOTES:1) LOCKING FORCE INDICATED IS THE ACTUAL LOCKING FORCE WITH A DRY, CLEAN

ROD AND DOES NOT INCLUDE ANY SAFETY FACTOR. IT IS POSSIBLE TO OVERRIDE THE RODLOK WITH VERY HIGH FORCE APPLIED TO THE GRIPPER. STATIC LOCKING FORCE MAY BE INCREASED ON SYNCHRONIZED UNITS, GRR12, WITH THE ADDITION OF A SECOND RODLOK. SEE KITS BELOW.

2) CIRCLED NUMBERS INDICATE POSITION.3) *1/8" NPT PORT IS AN ADAPTOR INCLUDED WITH IMPERIAL UNITS.

N2200

SIZE63

lb495

(see Note 1)STATIC LOCKING FORCE

COMPLETE RODLOK KIT (PER JAW)

Full unit description - H9110Kit includes Rodlok and Rodlok adaptor for a single (1) jaw.

RODLOK ADAPTOR KIT (PER JAW)

Full unit description - H9105Kit includes Rodlok adaptor for a single (1) jaw. Does not include Rodlok.

RODLOK KIT (PER JAW)

Full unit description - H9100Kit includes Rodlok for a single (1) jaw. Does not include Rodlok imperial port adaptor.

RODLOK SEAL KIT (PER JAW)

Full unit description - H9115Kit includes seals and wear rings for a single (1) jaw.

mm439,888,948,34,220,0125,03,627,230,9133,556,141,991,9115,6158,3

1,79 kg3,58 kg100,627,1

LETTERDIMB1B2L1L2L3L4L5L6L7L8L9L10L11L12L13L14L15L16L17

in17,3143,5001,9000,1650,7874,9200,1411,0701,2175,2542,2091,1503,6184,5506,2343,95 lb7,90 lb3,9601,06

GRRx2-x-63 X 150MODEL NUMBER

GRRx2-x-63 X 200mm

539,888,948,34,2

20,0149,93,6

27,230,9

133,556,141,991,9

115,6158,3

1,91 kg3,83 kg100,627,1

in21,2513,5001,9000,1650,7875,9000,1411,0701,2175,2542,2091,1503,6184,5506,2344,22 lb8,44 lb3,9601,06

GRRx2-x-63 X 250mm

660,888,948,341,420,0

184,93,6

27,230,9

133,556,141,991,9

115,6158,3

1,97 kg3,95 kg100,627,1

in26,0163,5001,9001,6300,7877,2800,1411,0701,2175,2542,2091,1503,6184,5506,2344,35 lb8,70 lb3,9601,06

GRRx2-x-63 X 350mm

860,888,948,385,620,0

235,03,6

27,230,9

133,556,141,991,9

115,6158,3

2,11 kg4,22 kg100,627,1

in33,8903,5001,9003,3700,7879,2500,1411,0701,2175,2542,2091,1503,6184,5506,2344,65 lb9,30 lb3,9601,06


OPTIONS & ACCESSORIES: SERIES GRR GRIPPERS

ACCESSORIES - RODLOK KITSTheSeriesGRRis-H47readyasstandard.Thefollowingitemsmaybe added to the Design 2 [6] GRR or may be used as replacement parts.Notethatthekitsbelowareforonejawonly.

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Providesaneasytouse,economical,fullyintegratedsolutiontocontinuouslymonitorthegrippositionofthejaws.Thesensor mounts directly to the gripper making field installation or replacementquickandeasy.The3-pinquick-connectconnectorprovides a 0-10 volt analog output compatible with standard analogcontrolmodules.ConsultPHDforusewith-V1option.

Hasthesamefunctionalperformanceasthe-SPP99option,except it is mechanically coupled and must be specified when the order is placed.Thisoptioncannotbeaddedtotheunitata later time.

SPP99

STT99

JAW POSITION SENSOR

COUPLED JAW POSITION SENSOR

OPTIONS: SERIES GRR GRIPPERS

mm161,919,036,5254

LETTERDIMJ8

SP1SP2SP3

in6,3750,7481,43710,000

GRRx2-x-63

MODEL NUMBER

+ VDC (PIN 1)

SIGNAL OUT (PIN 2)

GROUND (PIN 3)

CONNECTORINTERFACE

MALE QUICK CONNECT

SP1

J8

SP3

[M8 X 1]THREAD

5

2

6

4

� SP2

� 2,000 [� 51,0] MIN HOLETO ALLOW REMOVAL OFPOSITION SENSOR3mm HEX SIZE

� 1,500 [� 38,1] MIN HOLETO PROVIDE CLEARANCE FORPOSITION SENSOR

1

3

RESOLUTIONResolutionofsensorinstalledintogripperis0,001inch[0,025mm]in conjunction with an analog control module having 15 bits or greater input resolution.

REPEATABILITYMaximumvariationofreportedgripdimensionwhenrepeatedlygripping the same object is ±0,002 in [±0,05 mm].

ENVIRONMENTALTemperatureLimits:-20to180°F[-28to82°C] IP67 compliant when installed in gripper.

ELECTRICALSupply Voltage: 15-30 VDC, reverse polarity protected OutputVoltage:0-10VDC,short-circuitprotected OutputConstant:663±1mV/inch[26,10±0,04mV/mm]of grip changeOutputVoltageOffset:<10mVtypicalOutputLinearity:±0,3%


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SPP99 JAW POSITION SENSOR Series GRR is supplied -SPP99 ready. Kit below provides the same jaw position sensor and mounting hardware supplied pre-assembled withthe-SPP99option.Seeoptiondetailsforfurtherinformation.

STT99 JAW POSITION SENSOR Kits below provide the same jaw position sensor and mounting hardwaresuppliedpre-assembledwiththe-STT99option.Seeoptiondetailsforfurtherinformation.

CORDSETProvidesacordsetwithfemalequickconnectandadditionalcable.PerfectforusewiththeSetPointModule.

ACCESSORIES: SERIES GRR GRIPPERS

SET POINT MODULE

JAW POSITIONSENSOR

CORDSET ACCESSORYSOLD SEPARATELYSEE BELOW

MODEL NO.63549-0263549-05

LETTER DIM.L

78,74 [2 m]196,85 [5 m]

BLACK CABLE

L

1,299[34,8]

0,689[19,3]

BLACK CONNECTOR

PIN 2/4WIRE COLOR

BLACK

PIN 3WIRE COLORBLUE

� 0,402[10,2]

PIN 1WIRE COLORBROWN

SET POINT MODULE PART NO. DESCRIPTION 9800-01-0300 4.5-24VDC,SinkTypeOutput 9800-01-0400 4.5-24VDC,SourceTypeOutput

See Switches and Sensors section in main catalog formoreinformation.

SET POINT MODULESetPointModuleconvertsanalogoutputfromsensorintodiscreteon-offoutputs.Moduleprovidesfourindependentlyadjustable set points throughout jaw travel. Available with NPN (sink) or PNP (source) outputs.


SPP99 JAW POSITION SENSOR KITS


Sensor Replacement Kit 74209-31 74209-32Kit includes 1 jaw position sensor, 2 mounting screws, 1 seal and 1 coupling seal

REPLACEMENT STT99 JAW POSITION SENSOR KITS


Sensor Replacement Kit 84404-11 84404-12Kit includes 1 jaw position sensor, 2 mounting screws, 1 seal and spring

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DIMLETTER

B3SW1SW2SW3SW4SW5SW6SW7SW8

in3,5440,9200,4101,1250,8521,9203,0800,9001,211

mm90,023,410,428,621,648,878,222,930,8

GRRx2-x-63

5

6

4mm HEX SIZE TARGET & BRACKET

JAW B

SW8

JAW A

SW5SW6

B3

SW1

SW7

TARGETS & BRACKETS MAY BE LOCATED ON BOTH SIDES OF JAWS

3

4 2

1

SHOWN AS 8mm PROX SHOWN AS

12mm PROX

SW2

SW3

SW4

All dimensions are reference only unless specifically toleranced.


PROXIMITY SWITCHES - EXTERNALThis accessory provides for the external mounting of 8 or 12 mm threaded round metal sensing inductive proximity switches. Multiple switches may be mounted using multiple brackets. Proximity switches, targets, and mounting brackets are ordered separately. See the Switches and Sensors section in the main catalog for complete switch specifications. NOTE: Target and bracket kits do not interchange with Series 1 [5] GRR Grippers.

8 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION51422-005-02 NPN (Sink), 2 meter cable51422-006-02 PNP (Source), 2 meter cable

12 mm THREADED INDUCTIVE PROXIMITY SWITCHESPART NUMBER DESCRIPTION

15561-001 NPN (Sink), 2 meter cable15561-002 PNP (Source), 2 meter cable15561-003 VAC Solid State, 3 meter cable

8 mm & 12 mm THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS

STANDARD CORROSION RESISTANT74994-31 74994-32

Kit includes 1 proximity switch target and 2 target mounting screws

THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKET KITS

8 mm SWITCHCORROSION RESISTANT

8 mm SWITCH12 mm SWITCH

CORROSION RESISTANT 12 mm SWITCH

74992-31 74992-32 74993-31 74993-32Kit includes 1 proximity switch mounting bracket, 1 mounting nut, and 1 mounting screw

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TRAVEL ADJUSTMENT COLLARSThisaccessoryprovidestraveladjustmentstopcollarsforuseinlimitingjawtravelonopenorclose.Thetraveladjustmentstopcollars provide infinite adjustment. Synchronized model (GRR12) requirestraveladjustmentcollarstobeidenticallylocatedforbothjaws,inthesamedirectionoftravel.Non-synchronizedmodels(GRR02&GRR22)donotrequireidenticalstoplocationsforeachjaw. For non-adjustable jaw travel limiting, see options ANxxx, ATxxx,APxxx,ARxxxx,AUxxx,andAQxxxonpage11.

DIMLETTER

B2SA1SA2SA3SA4

in3,5000,6301,7402,9000,035

mm88,916,044,273,70,9

GRRx2-x-6324

6mm HEX SIZE

3

1

SA3 B2

STANDARD74211-01

CORROSION RESISTANT74211-02

STROKE ADJUSTMENT COLLAR KITS

6

5

SA1

SA4

SA2

POSSIBLE CONFIGURATION FOR GRR02, GRR12, OR GRR22, SHOWN WITH STROKE LIMITED ON OPEN

POSSIBLE CONFIGURATION FOR GRR22, SHOWN WITH ONE JAW RESTRICTED

Kit includes 2 stroke adjustment collars and 4 mounting screws.

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EXPLODED vIEw: SERIES GRR GRIPPERS

Full unit description required -H610017831-095

Sold as part of seal kit onlyFull unit description required -H4810Full unit description required -H2000

Sold as part of seal kit only74221

Full unit description required -H2040Full unit description required -H3310Full unit description required -H1300Full unit description required -H4720Full unit description required -H4710

Sold as part of seal kit only74213

Full unit description required -H6210Full unit description required -H6220Full unit description required -H2605

75038Full unit description required -H2020Full unit description required -H4740Full unit description required -H4740Full unit description required -H2030Full unit description required -H9110Full unit description required -H9100Sold as part of jaw position sensor kitSold as part of seal kit and as part of

jaw position sensor kitFull unit description required -H1705Full unit description required -H1715Full unit description required -H1725Full unit description required -H1735Full unit description required -H1745Full unit description required -H1755

PART DESCRIPTIONBase Plate AssemblyDowel PinO-ring SealCenter Plate AssemblyFHCSO-ring SealJaw Position Sensor CoverSHCSRackRack Cover TubeLarge Jaw GuideSmall Jaw GuideO-ring SealEnd Plate Communication PlugEnd Plate Assembly (location 48)End Plate Assembly (location 26)Jaw AssemblyRack Mounting SpacerLHCSSHCSSHCSSHCSComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Jaw Position Sensor AssemblyO-ring Seal Coupling (-SPP99 option only)-ANxxx Travel Limiting Tube-ATxxx Travel Limiting Tube-APxxx Travel Limiting Tube-AQxxx Travel Limiting Tube-ARxxx Travel Limiting Tube-AUxxx Travel Limiting Tube

PART NUMBERKEY123456789101112131415161718192021222525E3032

404142434445

Note: All part numbers are for standard units. Options may affect part numbers.*Seal kit does not include Rodlok seals. Rodlok seals sold in Rodlok seal kit only.

DESCRIPTIONComplete Rodlok Kit (per jaw)Rodlok Kit (per jaw)Rodlok Adaptor Kit (per jaw)Rodlok Seal Kit (per jaw) Seal KitSensor Replacement Kit

PART NUMBERFull unit description required -H9110Full unit description required -H9100Full unit description required -H9105Full unit description required -H9115Full unit description required -H9000Full unit description required -H9305

KITS

COMPLETE RODLOK KIT

RODLOK ADAPTOR KIT(MOUNTING ONLY)

RODLOK KIT(LOCKING DEVICE ONLY)

25E

25

1314

22

21

20

1519

1817

9

10

4

2

2

3

9

1819

17

16

20

21

22

1314

1

6

7

5

8

30

32

11

12

40

42

44

41 45

43

10

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APPLICATION EXAMPLES: SERIES GRR GRIPPERS

GRIPPER FOR HIGH FORCE AND HIGH JAW LOADS

TheSeriesGRRGripperisdesignedtowithstandexternalforceswhenmovingheavypartsquickly.Theparalleldesignprovidesforautomaticcenteringofparts,whilethelongjawtravelmakesitflexibleforawidevarietyofapplications.Inthisapplication,twoSeries GRR Grippers are mounted on a fixture attachedtoarobot.Therobotwilltransferrimsfromanin-feedconveyorstationtoandfromthreeseparatemachiningprocesses.Thenthefinishedrimisplacedonaconveyor,takingitfromthemachining area.

GRIPPER FOR LONG TRAVEL, HIGH FORCE CAPABILITY

TheSeriesGRRGripperisdesignedforlongstroke,highforceapplications.Thesynchronizedparalleljawmotionautomaticallycentersitemsforoperationssuchassorting.Thelongstrokecompensatesforitemsofvaryingsizeorposition.

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LONGER THANSTANDARD JAWTRAVEL

SHOCK PADS ONOPEN OR CLOSED

UNEQUAL JAW TRAVELS(NON-SYNCHRONIZED)

LOW PROFILE UNIT

DOUBLE FORCE UNIT ENCLOSED UNIT

Illustrationsshownareforconceptonly.Othervariationsinclude: Smaller or larger bore sizes Metallicrodscrapers Shorter or longer jaw travels Fluid compatibility Alternate materials

Contact PHD, Inc. with your product requirements.

UNIQUE GRIPPER SOLUTIONS: SERIES GRR

PHD, Inc.9009 Clubridge Drive

P.O. Box 9070, Fort Wayne, Indiana 46899 U.S.A.Phone (260) 747-6151 • Fax (260) 747-6754

www.phdinc.com • [email protected]

PHDinEurope GmbHArnold-Sommerfeld-Ring 252499 Baesweiler, Germany

Tel. +49 (0)2401 805 230 • Fax +49 (0)2401 805 232www.phdinc.com • [email protected]

200-A4 5/12 8648

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