P0373-P0441-E.qxd 08.9.29 3:07 PM Page 373 Parallel Style Air Gripper Series MHZ MHZ MHF MHL MHR MHK MHS MHC MHT MHY MHW -X MRHQ MA D- 373

Integral linear guide used for high rigidity • Martensitic stainless steel High degree of mounting flexibility Can be mounted five ways from three directions. Lateral mounting Axial mounting Vertical mounting Using tapped holes Using end boss Using tapped holes Using through-holes | Finger positions can be selected. Standard type Narrow type (MHQG2 compatible width) (MHQ2 compatible width) Body option Basic type Side ported Side ported iA/¡th One-touch coaxial tubing hose nipple Finger option Basic type Side tapped Flat type Compact series With dust cover Long stroke Double acting Single acting...

Model Selection Model Selection Selection Procedure Confirm gripping force Confirm gripping point Confirm external force on fingers Q Confirmation of Gripping Force Workpiece mass: Gripping method: External gripping Gripping point distance: Operating pressure: Calculation of required gripping force (^Selection of model from gripping force graphj Guidelines for the selection of the gripper with respect to component mass • Although conditions differ according to the work piece shape and the coefficient of friction between the attachments and the workpiece, select a model that can provide a gripping...

Parallel Style Air Gripper Seríes MHZ Effective Gripping Force: Series MHZD2/Double Acting/External Gripping Force External Gripping Force ■ Indication of 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 External Grip External Gripping Force

Model Selection Effective Gripping Force: Series MHZD2/Double Acting/Internal Gripping Force Internal Gripping Force ■ Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. Internal Grip Internal Gripping Force

Parallel Style Air Gripper Seríes MHZ Effective Gripping Force: Series MHZD2/Single Acting/External Gripping Force External Gripping Force ■ Indication of 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 External Grip External Gripping Force

Model Selection wraTl Effective Gripping Force: Series MHZD2/Single Acting/Internal Gripping Force Internal Gripping Force Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. nternal Grip Internal Gripping Force

Parallel Style Air Gripper Seríes MHZ Effective Gripping Force: Series MHZD2/Double Acting/External Gripping Force • Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. External Grip External Gripping Force External Gripping Force

Model Selection Effective Gripping Force: Series MHZD2/Double Acting/Internal Gripping Force • Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. Internal Grip Internal Gripping Force Internal Gripping Force

Parallel Style Air Gripper Seríes MHZ Effective Gripping Force: Series MHZD2/Single Acting/External Gripping Force ■ Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. External Grip External Gripping Force External Gripping Force

Model Selection Effective Gripping Force: Series MHZD2/Single Acting/Internal Gripping Force ■ Indication of 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 attach- ments are in full contact with the workpiece as shown in the figure below. nternal Grip Internal Gripping Force Internal Gripping Force

P0373-P0441-E.qxd 08.9.29 3:08 PM Page 385 Series Parallel Style Air Gripper Confirmation of Gripping Point: Series MHZ/External Grip External Grip External Grip MHZ2-6 MHZ2, 11-MHZ2 MHZ Step 2 External Grip MHZ2-25/11-MHZ2-25 L 120 Overhang H (mm) Gripping point Overhang H (mm) H 40 30 Pre ssu re 0.5 MPa 0.3 0.7 MPa 0.6 MPa 0.2 MP a MP a 0.4 MP a 20 10 100 Pr es su re 80 60 0. 2 0.5 MPa 0.6 MPa 0.7 MPa M Pa 0. M 4 Pa 0. 3 40 M P a 20 MHZAJ2, MHZJ2 0 10 20 30 0 40 20 40 60 80 100 120 Gripping point L (mm) H Gripping point L (mm) MHZ2-10/11-MHZ2-10 MHZ2-32 60 150 40 es 30 0. Overhang H (mm) Pr...

Model Selection Internal Grip Confirmation of Gripping Point: Series MHZD/lnternal Grip Internal Grip The air gripper should be operated so that the workpiece gripping point "L" and the amount of overhang "H" stay within the range shown for each operating pressure given in the graphs to If the workpiece gripping point goes beyond the range limits, this will have an adverse effect on Internal Grip

Parallel Style Air Gripper Seríes MHZ I Confirmation of External Force on Fingers: Series MHZD2 L: Distance to the point at which the load is applied (mm) Note) Values for load and moment in the table indicate static values.