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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 SolutionsPage 20
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
KIT STANDARDCORROSION RESISTANT
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]
TOOLING LENGTH in [mm]
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] 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
Alldimensionsarereferenceonlyunlessspecificallytoleranced.
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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.
Alldimensionsarereferenceonlyunlessspecificallytoleranced.
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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
Alldimensionsarereferenceonlyunlessspecificallytoleranced.
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%
Alldimensionsarereferenceonlyunlessspecificallytoleranced.
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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.
Alldimensionsarereferenceonlyunlessspecificallytoleranced.
SPP99 JAW POSITION SENSOR KITS
KIT STANDARDCORROSION RESISTANT
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
KIT STANDARDCORROSION RESISTANT
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.
ACCESSORIES: SERIES GRR GRIPPERS
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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Alldimensionsarereferenceonlyunlessspecificallytoleranced.
ACCESSORIES: SERIES GRR GRIPPERS
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