P0596-P0654-E.qxd 08.9.29 3:36 PM Page 615 Angular Style Air Gripper Series MHC2/MHCA2/MHCM2 MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 615

Angular style air gripper Smallest size and lightest Body option Side piping Note) Not including auto switch mass.

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 617 Series MHC2/MHCA2/MHCM2 Specific Product Precautions Be sure to read before handling. Mounting Warning Warning 1. Tighten the screw within the specified torque range when mounting the air gripper. Tightening with a torque above the limit can cause malfunction, while insufficient tightening can cause slippage and dropping. How to Mount Air Grippers Axial Mounting (Body tapped) Lateral mounting (Body tapped, body through-hole) l Max. tightening Max. screw-in torque N·m depth l mm MHCA2-6 M2 x 0.4 MHCM2-7S M2 x 0.4 0.15 6 0.15 4 Note) MHC2-6 is not compatible...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 618 Series MHC2/MHCA2/MHCM2 Model Selection Model Selection Selection Procedure Step 2 Confirmation of inertial moment of attachment Step 1 Confirm gripping force Confirmation of Gripping Force Confirmation of conditions Model selection from gripping force graph Calculation of required gripping force Example Workpiece mass: 0.01 kg MHC2-6D/MHCA2-6D Model selection criteria with respect to workpiece mass Pressure 0.6 MPa • Although differences will exist depending on factors such as shape and the coefficient of friction between the attachments and workpieces,...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 619 Angular Style Air Gripper Step 1 Series MHC2/MHCA2/MHCM2 Effective Gripping Force: Series MHC2 External Gripping Force • Expressing the effective gripping force The effective gripping force shown in the graphs to the right is expressed as F, which is the thrust of one finger when both fingers and attachments are in full contact with the workpiece as shown in the figure below. External Gripping MHC2/MHCA2/MHCM2 F L F MHC2-6D/MHCA2-6D MHC2-6S/MHCA2-6S MHCM2-7S Pressure 0.6MPa 4 4 2 0.4 0.3 Gripping force N 3 2 Pressure 0.6MPa Pressure 0.6MPa Gripping force...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 620 Series MHC2/MHCA2/MHCM2 Step 2 Confirmation of Inertial Moment of Attachment Confirm the inertial moment of one of the two attachments. For example, in calculating the inertial moment of an attachment in the picture on the left, divide it into 2 rectangular parallelepipeds, A part and B part. Formula Procedure z.Calculate the operating conditions and attachment dimensions. a c e B part B part Example A part b A part Operating equipment: MHC2-6D a = 20 (mm) b = 3 (mm) c = 4 (mm) d = 4 (mm) e = 5 (mm) f = 6 (mm) f d x.Calculate the inertial moment of the...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 621 Angular Style Air Gripper Series MHC2/MHCA2/MHCM2 Symbol Symbol Definition Unit Z Central axis of finger rotation Z1 Axis which contains center of gravity of attachment A part and is parallel to Z Z2 Axis which contains center of gravity of attachment B part and is parallel to Z — — — 1 Total inertial moment of attachment kg·m2 1Z1 Inertial moment around Z1 axis of attachment A part kg·m2 1Z2 Inertial moment around Z2 axis of attachment B part kg·m2 1A Inertial moment around Z axis of attachment A part kg·m2 1B Inertial moment around Z axis of attachment...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 622 Angular Style Air Gripper Series MHC2-6/MHCA2-6 How to Order Number of auto switches Auto switch Nil S Nil Without auto switch (Built-in magnet) ∗ For the applicable auto switch model, refer to the table below. 2 M9B 6 D MHC A 2 2 pcs. 1 pc. 6 D MHC Short body Made to Order (Auto switch not attachable) Refer to page 623 for details. Number of fingers 2 2 finger Bore size (mm) 6 6 Action D Double acting S Single acting (Normally open) Body option (End boss type) E: Side ported (Double acting/ Single acting) Nil: Basic type MHC2 K: Axial ported with One-touch...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 623 Angular Style Air Gripper Series MHC2-6/MHCA2-6 Specifications Air Fluid 0.15 to 0.6 MPa Operating Double acting pressure Single acting: Normally open 0.3 to 0.6 MPa Ambient and fluid temperature –10 to 60°C Repeatability ±0.02 mm Maximum operating frequency 180 c.p.m Lubrication Non-lube Double acting, Single acting (Normally open) Action Auto switch (Option) Note) Solid state auto switch (3-wire, 2-wire) Note) Refer to pages 761 to 809 for further information on auto switches. MHC2-6 MHCA2-6 Model (2) (1) MHCA2-6 Axial ported (With hose nipple) Action...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 624 Series MHC2-6/MHCA2-6 Construction MHC2-6 Double acting/With fingers open r !0 o !8 i e q y w !1 !6 !7 !2 t !9 Double acting/With fingers closed Single acting !3 u !5 !4 Component Parts No. Material Note No. Description 1 Body Description Aluminium alloy Hard anodized 11 Needle roller 2 Finger Stainless steel Heat treatment 12 Magnet 3 Piston Stainless steel 13 N.O. spring 4 Lever shaft Stainless steel 14 5 Magnet holder Stainless steel 15 6 Cap Aluminium alloy 7 Clip Stainless steel 8 Bumper Urethane rubber 9 Holder 10 Holder lock Nickel plated Zinc...

P0596-P0654-E.qxd 08.9.29 3:36 PM Page 625 Angular Style Air Gripper Series MHC2-6/MHCA2-6 Dimensions MHC2-6 4 x M2 x 0.4 through Thread for attachment mounting hme nt m ount 16 ing li mitin g ran ge 11 2 x M3 x 0.5 through Prepared hole dia. 2.6 through 2.5 5 2 4 20 12 14 ø4 10 ±0.05 6 36 Auto switch mounting groove dimensions MHZ MHF ø7H8 +0.022 depth 1.5 0 MHL (48) MHR –0.005 M3 x 0.5 ∗ Finger opening port 4 –0.025 MHK MHS MHC 1.6 When closed 10° When open 30° 2 4.8 2.5 Attac MHT 7 M3 x 0.5 Finger closing port MHY 18 MHW -X ∗ In the case of MHC2-6S, finger opening port is a breathing hole....

P0596-P0654-E.qxd 08.9.29 3:37 PM Page 626 Series MHC2-6/MHCA2-6 Dimensions MHCA2-6 (Short body type) 2 x M2 x 0.4 thread depth 4 (Mounting thread) 5 4 x M2 x 0.4 through Thread for attachment mounting 10 hmen t mou nting 16 limitin g ran ge 11 2 x M3 x 0.5 through Prepared hole dia. 2.6 through 2.5 5 13.6 12 14 4 10 ±0.05 6 29 (41) 1.3 0.8 –0.005 4 –0.025 M3 x 0.5 ∗(Finger opening port) M3 x 0.5 Finger closing port 5.5 14.3 ∗ In the case of MHCA2-6S, finger opening port is a breathing hole. 626 2 x M2 x 0.4 depth 6 (Mounting thread) 2 When closed 10° When open 30° 2 4 20 Attac ø7H8 +0.022 0...