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CH

Product catalog summary

Pneumatic Specifications

Pressure Operating Range: 30-100 psi (2-7 bar)
Cylinder Type: Double acting, double acting spring assist, or single acting spring return
Dynamic Seals: Internally lubricated Buna-N seals
Valves Required: 4-way, 2 position for double acting; 3-way, 2 position for single acting
Air Quality: 40 Micron filtration or better, low moisture content, lubrication not necessary
Temperature Range: -10°~180°F (-25°~80°C)

Maintenance Specifications

Expected Life: 3 million cycles (normal), 6+ million cycles with preventative maintenance
Field Repairable: Yes
Seal Repair Kits: Available

Technical Specifications

Compliance located using a pilot boss and dowel pin, assembled with 4 or 6 screws
Recommended for vertical axis use only
Tooling located using centering and dowel pin, assembled with 4 screws

Product Features

Flexibility: Compensates for misalignment in component insertion
Precision: High-quality components for centering repeatability of 0.02mm and angular repeatability of +/- 10°
Environment: Enclosed design suitable for harsh environments
Spring Assist: Allows single acting mode and centering or release in air failure

Operating Principle

Double acting piston linked to a centering cone
Spring assist option for centering or releasing the output flange

Compliance Devices Specifications

CH-50: Misalignment ± 0.118 in (3 mm), Max Payload 4.4 lbs (2 Kg), Weight 0.43 lbs (0.195 Kg)
CH-80: Misalignment ± 0.197 in (5 mm), Max Payload 17.6 lbs (8 Kg), Weight 1.65 lbs (0.750 Kg)
CH-110: Misalignment ± 0.256 in (6.5 mm), Max Payload 30.8 lbs (14 Kg), Weight 4.63 lbs (2.10 Kg)
CH-140: Misalignment ± 0.315 in (8 mm), Max Payload 66.12 lbs (30 Kg), Weight 9.50 lbs (4.310 Kg)
CH-165: Misalignment ± 0.472 in (12 mm), Max Payload 88.18 lbs (40 Kg), Weight 19.18 lbs (8.7 Kg)

Ordering Information

Accessories ordered separately from the basic model
Spring assist options: RA for tool recentering, RL for tool release
Special misalignment options available

Specifications:

Weight: 9.5 lbs (4.31 Kg) for CH-140 and 19.2 lbs (8.7 Kg) for CH-165.
Misalignment Capability: ±0.31 in. (±8 mm) for CH-140 and ±0.47 in. (±12 mm) for CH-165.
Pressure Range: 30-100 psi (2-7 bar) without springs, 60-100 psi (4-7 bar) with springs.
Cylinder Bore: 4.13 in. (105 mm) for CH-140 and 4.72 in. (120 mm) for CH-165.
Displacement: 9.03 in³ (148 cm³) for CH-140 and 14.40 in³ (236 cm³) for CH-165.
Actuation Time: 0.2 sec for CH-140 and 0.36 sec for CH-165.
Repeatability: ±0.0024 in. (±0.06 mm).
Angular Repeatability: ±20 minutes.

Loading Information:

Maximum Tensile Load: 50 lbs (225 N) for CH-140 and 52 lbs (230 N) for CH-165.
Maximum Breakaway Compressive Load: 50 lbs (225 N) for CH-140 and 52 lbs (230 N) for CH-165.
Maximum Breakaway Moment: 168 in.-lbs (19 Nm) for CH-140 and 203 in.-lbs (23 Nm) for CH-165.

Assembly Procedures:

Press-in the bushing into the body.
Insert pins into the body and lubricate them.
Assemble the crossed ring onto the body and position keys into slots.
Mount the bottom case onto the body and fasten using screws with thread locker.
Insert O-rings into the centering cone and piston grooves.
Assemble the piston with the centering cone and fasten using a washer and screw with thread locker.
Insert springs into the body and piston counterbore holes for the -RL option.
Insert the piston and centering cone sub-assembly into the body.
For the -RA option, insert springs into the cap and piston counterbore holes.
Insert O-rings into the cap groove and counterbore holes, then screw the SS screws into the cap with thread locker.
Locate and insert the cap into the body using screws with thread locker.

Maintenance:

Use Krytox™ lubricant, Teflon® based grease, lightweight machine oil, and Super Bonder for maintenance.
Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices.

Catalog excerpts

* Harsh environments: The enclosed design of this series allows them to be used in harsh environments. * Spring assist: Due to the optional spring assist, compliance may be used in single acting mode. Cylindrical Horizontal Compliance Devices * Flexibility of the tool: Cylindrical Horizontal compliance devices are used for inserting components that may be misaligned with the tool. They allow a horizontal displacement that compensates for part placing inaccuracies. * For precision applications: The use of high quality components allow to get centering repeatability from 0.02mm and angular repeatability from +/- 10°. Mounting Information: Technical Specifications: It is recommended to use the compliance in the vertical axis only 80 ' f The compliance is located using a pilot boss and a dowel pin and assembled using 4 or 6 through body screws Tooling is located using a centering and a dowel pin and assembled using 4 screws Pneumatic Specifications Imperial Metric Pressure Operating Range 30-100 psi 2-7 bar Cylinder Type Double acting or double acting spring assist or single acting spring return Dynamic seals Internally lubricated Buna-N seals Valves Required to Operate Double Acting 4-way, 2 position Single Acting (-RL or -RA option) 3 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 Joints Nitrile (standard) -10°~180° F -25°~80° C Compliance can be operated using top manifold airport Maintenance Specifications** Expected Life Normal Application 3 million cycles w/ Preventative Maintenance 6+ million cycles Field Repairable Yes Seal Repair Kits Available Yes *Addition of lubrication will greatly increase service life **See Maintenance Section

Open the catalog to page 1

Product Features Spring Assist Quality Components Spring assist option allows to center the tool (RA) or to release the tooling (RL). It also allows the use in single acting mode Made from aluminum alloy hard coat anodization. Main components are made of hardened and precision ground steel Style- Cylindrical Horizontal Compliance Devices CH-50 Size-50 Style: Misalignment Capability: ± 0.118 in. ± 3 mm Maximum Payload: 4.4 lbs. 2 Kg Weight: 0.43 lbs. 0.195 Kg See Page Style- Cylindrical Horizontal Compliance Devices CH-80 Size-80 Style: Misalignment Capability: ± 0.197 in. ± 5 mm Maximum Payload:...

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CH-50 CYLINDRICAL HORIZONTAL COMPLIANCE DEVICES 36.5 1.437 - I: Tool Plate Option UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] BASIC MODEL Loading Capacity SPRING ASSIST MISALIGNMENT SPRING RA Tool Recentering RL Tool Release __ Leave Blank. No Spring Option (standard) Maximum Tensile T Maximum Breakaway Compressive C Maximum Breakaway Moment Mx Maximum Breakaway Moment My Maximum Breakaway Moment Mz...

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CH-80 CYLINDRICAL HORIZONTAL COMPLIANCE DEVICES 2 x [M4 x 5 DP] (supplied plugged) - I: Tool Plate Option [5.5] 4 x Ø0.217 for [M5] SHC screws UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] BASIC MODEL TOOL PLATE SPRING ASSIST MISALIGNMENT SPRING RA Tool Recentering RL Tool Release __ Leave Blank. No Spring Option (standard) Loading Capacity Maximum Tensile T Maximum Breakaway Compressive C Maximum Breakaway...

Open the catalog to page 4

CH-110 CYLINDRICAL HORIZONTAL COMPLIANCE DEVICES 16.0 0.630 - I: Tool Plate Option UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] BASIC MODEL TOOL PLATE SPRING ASSIST MISALIGNMENT SPRING RA Tool Recentering RL Tool Release __ Leave Blank. No Spring Option (standard) Loading Capacity Maximum Tensile T Maximum Breakaway Compressive C Maximum Breakaway Moment Mx Maximum Breakaway Moment My Maximum Breakaway...

Open the catalog to page 5

- I: Tool Plate Option [140.0] Ø5.512 UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] BASIC MODEL TOOL PLATE SPRING ASSIST MISALIGNMENT SPRING RA Tool Recentering RL Tool Release __ Leave Blank. No Spring Option (standard) Loading Capacity Maximum Tensile T Maximum Breakaway Compressive C Maximum Breakaway Moment Mx Maximum Breakaway Moment My Maximum Breakaway Moment Mz How to Order: (Order Accessories...

Open the catalog to page 6

CH-165 CYLINDRICAL HORIZONTAL COMPLIANCE DEVICES 24.0 0.945 [Ø8 H9 x 16 DP] - I: Tool Plate Option [11.0] 4 x Ø 0.433 for [M10] SHC srews UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Imperial in. Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] BASIC MODEL TOOL PLATE SPRING ASSIST MISALIGNMENT SPRING RA Tool Recentering RL Tool Release __ Leave Blank. No Spring Option (standard) Loading Capacity Maximum Tensile T Maximum Breakaway Compressive C Maximum Breakaway...

Open the catalog to page 7

CH Series Exploded View Item Qty Name 1 1 Body NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 87 Assembly Procedures 1) Press-in the bushing (#8) into the body (#1) 2) Insert the pins (#65) into the body (#1) 3) Lubricate and insert the pins (#62) into the bushings (#8) 4) Lubricate and insert the keys (#9) into the pins (#62) 5) Lubricate and assemble the crossed ring (#5) onto the body (#1). The keys (#9) have to be positioned into the slots of the crossed ring 6) Insert the pins (#61) into the output flange (#6) 7) Lubricate...

Open the catalog to page 8

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