series grb grippers

Transcription

series grb grippers

GRIPPERS
INDEX:
Parallel Jaw Motion
Pages 6A-1 to 6A-109
AIR OR HYDRAULIC
ANGULAR OR PARALLEL MOTION
180° Angular Jaw Motion
Series GRB
Pages 6B-1 to 6B-15
Angular Jaw Motion
Pages 6C-1 to 6C-25
A Wide Range of Sizes, Jaw Styles, Jaw Travels,
and Gripping Forces for Most Any Gripping Requirement
NEW!
SERIES GRR
SERIES GRL
SERIES GRS
WITH SPRING ASSIST
SERIES GRW
SERIES GRC
6-INDEX
SERIES GRT
SERIES 5300
ANGULAR &
PARALLEL
SERIES 8400
ANGULAR
SERIES
8600 3 JAW
NEW!
SERIES 190/191
PARALLEL
SERIES GRD
SERIES GRB
SOLUTIONS FOR
INDUSTRIAL AUTOMATION
(800) 624-8511
CAT-03
www.phdinc.com/products/grippers
6-i
190/191
6A-2 to 6A-15
6
7
8
9
6
7
8
9
SHORT JAW TRAVEL: STYLE 1 & 2
5.3 [24]
0.11
.157
[4]
10.6 [47]
0.25
.276 [7]
21.8 [97]
.394 [10] 0.67
42.6 [190]
.512 [13] 1.46
LONG JAW TRAVEL: STYLE 2
3.2 [14]
0.13
.315 [8]
8.1 [36]
.433 [11] 0.27
13.1 [58]
.630 [16] 0.71
23.5 [105]
.866 [22] 1.62
AT
UR
ES
FE
UN
IT
lb WEI
[kg GHT
]
NO
M
TO INAL
TA
inc L JAW
he
TR
s
[m AVEL
m]
E
SIZ
SE
RIE
S
GR
IP
lb FOR
[N] CE*
STANDARD PARALLEL GRIPPER SELECTION GUIDE
[0.05]
[0.11] • small size
[0.30] • pneumatic service
[0.66] • two jaw travels
• two jaw styles
[0.06] • spring assist
[0.12] • switches
[0.32]
[0.73]
5
6
SHORT JAW TRAVEL:
33 [147]
.187 [4.75]
40 [178]
.335 [8.5]
87 [387]
.315 [8.0]
136 [604]
.423 [10.75]
LONG TRAVEL:
54 [240]
.502 [12.75]
91 [406]
.699 [17.75]
6
7
8
9
128
261
488
980
[570]
[1164]
[2172]
[4356]
.62
1.00
1.31
1.80
3
4
5
6
96
209
383
870
[427]
[930]
[1704]
[3870]
1.00 [25.5]
1.53 [39]
2.00 [51]
3.07 [78]
GRT
6A-52
to 6A-65
1
2
3
4
5
6
7
8
44
112
168
218
378
569
880
1452
[196]
[499]
[747]
[971]
[1683]
[2531]
[3912]
[6459]
0.236
0.315
0.472
0.630
0.787
1.024
1.260
1.575
GRS
6A-66
to 6A-79
27 x 4.5
27 x 7
28 x 6
28 x 10
32 x 8
32 x 13
50 x 19
50 x 28
63 x 32
63 x 44
68
48
77
48
109
70
235
157
398
289
[302]
[213]
[341]
[213]
[484]
[310]
[1045]
[697]
[1770]
[1287]
14x7
14x13
16x20
16x26
28
30
41
41
[124]
[132]
[182]
[182]
0.28 [7]
0.51 [13]
0.79 [20]
1.02 [26]
0.18
0.24
0.39
0.47
[0.08]
[0.11]
[0.18]
[0.21]
• long travel
• pneumatic service
• slim profile
• switches
16
25
32
40
50
36
90
170
207
429
[160]
[400]
[756]
[921]
[1908]
0.79 [20]
2.09 [53]
2.56 [65]
3.58 [91]
4.61 [117]
0.69
2.5
5.3
11.2
22.1
[0.3]
[1.1]
[2.4]
[5.1]
[10.0]
• long travel
• superior jaw stability
• high performance
• dependable
• simple to use
50
460 [2046]
7.87 [200]
36.6 [16.6]
GRD
6A-16 to 6A-29
5300
6A-30 to 6A-35
6-INDEX
GRC
6A-36 to 6A-51
NEW!
GRL
6A-80
to 6A-89
GRW
6A-90
to 6A-99
GRR
6A-100 to 6A-110
3
4
5
6
[0.11]
[0.17]
[0.30]
[0.64]
3.1
7.0
14.0
37.0
[1.41]
[3.18]
[6.35]
[16.8]
• heavy duty
construction
• high grip force
• spring assist
• switches
1.68
3.98
7.35
20.47
[0.76]
[1.81]
[3.33]
[9.28]
• long travel
• high grip force
• locking feature
• spring assist
• switches
[6] ▲
[8] ▲
[12] ▲
[16] ▲
[20] ▲
[26] ▲
[32] ▲
[40] ▲
0.27
0.59
0.95
1.75
2.82
5.1
8.75
15.5
[0.12]
[0.27]
[0.43]
[0.80]
[1.28]
[2.32]
[3.98]
[7.05]
[4.5]
[7]
[6]
[10]
[8]
[13]
[19]
[28]
[32]
[44]
.29
.29
.54
.54
1
1
2.4
2.4
7.8
7.8
[.13]
[.13]
[.24]
[.24]
[.45]
[.45]
[1.1]
[1.1]
[3.5]
[3.5]
• low profile
• high grip force
• switches
• five sizes
• spring assist
[15.8]
[25.4]
[33.3]
[45.8]
.177
.276
.250
.394
.315
.512
.750
1.102
1.260
1.732
• small size
• high grip force
• two jaw travels
• spring assist
• switches
0.72 [0.32] • low cost
1.56 [0.71]
0.25
0.37
0.66
1.41
• very low profile
• eight sizes
• high grip force
• switches
• long travel
• high capacity
• narrow width
• rugged design
• low jaw deflection
* Above gripping force shown is at zero tooling length and 87 psi [6 bar] (pneumatic) or 750 psi [50 bar] (hydraulic). The values shown are minimum produced.
Optional spring assist can increase the gripping force shown above or can be a safety device on the following types: Series 190/191, GRD, 5300, GRC, and GRT. The
spring option can also be used to allow single acting operation of Series GRC, GRD, 5300, most 190/191, and GRT Grippers.
▲ Represents the change in jaw movement as a diameter change.
6-ii
(800) 624-8511
CAT-03
SOLUTIONS FOR
8400 [190] Opening per Jaw 14° min
6C-2 to 6C-13
8600 3 Jaw Opening per Jaw 15°
6C-14 to 6C-19
5300 Opening per Jaw 15°
6C-20 to 6C-26
GRB Opening per Jaw 90°
6B-1 to 6B-12
NEW!
S
RE
FEA
TU
UN
IT
W
l b EI G
[kg HT
]
M
DI INIM
inc STAN UM
hes CE
[m *
m]
GR
IP
F
lb ORC
[N] E*
SIZ
E
SE
RIE
S
STANDARD ANGULAR GRIPPER SELECTION GUIDE
0
1
2
3
11.7
19.7
55
81
[52]
[88]
[244]
[359]
.20
.30
.40
.62
[5.1]
[7.6]
[10]
[16]
.06
0.14
0.39
1.06
[0.03]
[0.08]
[0.22]
[0.48]
• small size
• spring assist
• switches
• low cost
2
3
4
5
58
127
285
730
[258]
[565]
[1268]
[3247]
.64
.81
.97
1.20
[16]
[21]
[25]
[30]
1.43
2.74
5.25
9.90
[0.65]
[1.24]
[2.38]
[4.49]
• lightweight
• self-centering
• switches
2
3
4
5
201 [894]
499 [2220]
1025 [4559]
2167 [9639]
.81
.97
1.20
1.68
[21]
[25]
[30]
[43]
2.40 [1.08] • heavy duty
construction
4.87 [2.20]
9.58 [4.35] • pneumatic service
27.73 [12.57] • high grip force
• spring assist
• switches
13
28
79
179
265
549
.44
.56
.67
.92
1.21
1.90
[11.3]
[14.3]
[17.0]
[23.4]
[30.8]
[48.3]
12
16
20
32
40
50
[57]
[124]
[353]
[797]
[1180]
[2443]
.28
.55
.98
2.2
4.3
11.5
[.13]
[.25]
[.45]
[.98]
[2.0]
[5.2]
• robust cam design
• three jaw rotations
available
• compatible with
PHD solid state,
reed & proximity
switches
*Above gripping force is at the corresponding minimum distance (from the jaw pivot) at 87 psi [6 bar] (pneumatic) and 750 psi [50 bar] (hydraulic).
Optional spring assist can increase the gripping force or be a safety device on the Series 5300 and 190.
6-INDEX
SEE THE PHD CLASSICS CATALOG FOR THE
FOLLOWING PHD GRIPPERS:
PARALLEL
Series 7900
Series 8600
M
O
F
IT
PRO
D
S
CT
U
CUS
T
ANGULAR
Series 7900 2 & 3 Jaw
Series 8600 2 Jaw
TO
NE
E
CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD
D
SOLUTIONS FOR
(800) 624-8511
CAT-03
6-iii
6-INDEX
GRIPPER SIZING GUIDELINES
Proper gripper sizing and selection is dependent on a number of parameters. The table below lists the primary parameters along with the
reason they are important. This guide provides the basic steps to selecting the right gripper for your application.
PARAMETER
IMPORTANCE
• Planned operating pressure at the gripper
Affects whether the part can be
• Weight and geometry or shape of part
gripped and manipulated
• Weight and geometry of tooling
• Tooling length
Parallel gripper: Distance from the center of the gripping point to the face of the gripper
Angular gripper: Distance from the center of the gripping point to the jaw pivot point
• Type of grip on part (external or internal, encapsulated or friction)
• Total gripper jaw travel or jaw rotation required
• Desired gripper cycle time
• Accelerations and decelerations due to part manipulation
• Is spring assist desired/required
• Metric or imperial customer interface
Affects unit type and option selection
• Sensing requirements
• Environment
Once the above parameters are known, the next step is to
determine the appropriate style and size of the gripper. Following
are two methods that can be used to select the style and size of the
gripper.
1.
1.
Method 1: Using PHD’s Sizing Software
Refer to the Gripper Selection Guide on pages 6-ii and 6-iii
to determine which grippers meet the style and jaw travel
requirements for your application.
2.
Input the application parameters (pressure, part weight and
tooling length, etc.) into the software.
3.
With your application’s jaw travel requirements in mind, select
a gripper from the list of valid devices shown in the software.
4.
Using the information in the Engineering Data section of the
catalog, confirm the selected gripper can withstand the applied
jaw moments and axial force for your application. When
calculating applied moments, include the grip force, part
weight, acceleration, and external forces.
5.
With the jaw travel, grip force and moment capacity confirmed,
double check that the gripper’s operating pressure range is
acceptable, the gripper meets the cycle time requirements and
if needed, the desired switch package and accessories are
specified.
Method 2: Using Hand Calculations
Refer to the Gripper Selection Guide on pages 6-ii and 6-iii to
determine which grippers meet the style and jaw travel
requirements for your application.
2.
Use Equation 1 below to approximate the required grip force
factor (GF).
3.
Keeping in mind the style and jaw travel requirements of your
application, select a gripper using the table on the following
page with a grip force factor (GF) equal to or greater than the
minimum GF value calculated.
4.
Refer to the Engineering Data section of the catalog for the
selected gripper and calculate the Total Grip Force (including
tooling length effects). Remember to include spring assist
grip force if desired. Verify that the Total Grip Force is
adequate to maintain your desired Safety Factor of grip force
to part weight.
5.
Using the information in the Engineering Data section of the
catalog, confirm the selected gripper can withstand the
applied jaw moments and axial force for your application.
When calculating applied moments, include the grip force,
part weight, acceleration, and external forces.
6.
With the jaw travel, grip force and moment capacity
confirmed, double check that the gripper meets the cycle time
requirements and that, if needed, the desired switch package
and accessories are specified.
EQUATION 1:
Imperial
Metric
Parallel Grippers
GF = (M x FS)/P
GF = (9.81 x M x FS)/P
Angular Grippers
GF = (M x K x FS)/P
GF = (9.81 x M x K x FS)/P
P = Working pressure, psi [bar]
M = Part mass, lb [kg]
K = Distance from jaw pivot to gripping point, in [mm]
(Note: Since the actual value of K is gripper dependent, enter a
best estimate)
FS = Safety Factor
PHD recommends that jaw tooling encapsulate the part.
With part encapsulation, a minimum 2:1 safety factor of
Total Grip Force to part weight should be used. For
unencapsulated part applications, a minimum 4:1 safety
factor is typical.
6-iv
(800) 624-8511
CAT-03
SOLUTIONS FOR
GRIP FORCE FACTOR
GRIP FORCE FACTOR TABLE
GRIPPER NO.
IMPERIAL
METRIC
19x60
19x65
19x70
19x75
19x80
19x85
19x90
19x95
19x61
19x66
19x71
19x76
19x81
19x86
19x91
19x96
19x62
19x67
19x72
19x77
19x82
19x87
19x92
19x97
GRDx31
GRDx41
GRDx51
GRDx52
GRDx61
GRDx62
15360
15362
15370
15372
15380
15382
15390
15392
GRCx31 & 3
GRCx31 & 3
GRCx32 & 4
GRCx32 & 4
GRCx41 & 3
GRCx41 & 3
GRCx42 & 4
GRCx42 & 4
GRCx51 & 3
GRCx51 & 3
GRCx52 & 4
GRCx52 & 4
GRCx61 & 3
GRCx61 & 3
GRCx62 & 4
GRCx62 & 4
GRS-33-1-27x4.5 GRS-33-5-27x4.5
GRS-33-1-27x7
GRS-33-5-27x7
GRS-33-1-28x6
GRS-33-5-28x6
GRS-33-1-28x10
GRS-33-5-28x10
GRS-33-1-32x8
GRS-33-5-32x8
GRS-33-1-32x13
GRS-33-5-32x13
GRS-33-1-50x19
GRS-33-5-50x19
GRS-33-1-50x28
GRS-33-5-50x28
GRS-33-1-63x32
GRS-33-5-63x32
GRS-33-1-63x44
GRS-33-5-63x44
GRT112
GRT512
GRT122
GRT522
GRT132
GRT532
GRT142
GRT542
GRT152
GRT552
GRT162
GRT562
GRT172
GRT572
GRT182
GRT582
GRLx2-1-14x7
GRLx2-5-14x7
GRLx2-1-14x13
GRLx2-5-14x13
GRLx2-1-16x20
GRLx2-5-16x20
GRLx2-1-16x26
GRLx2-5-16x26
GRWx3-1-16
GRWx3-5-16
GRWx3-1-25
GRWx3-5-25
GRWx3-1-32
GRWx3-5-32
GRWx3-1-40
GRWx3-5-40
GRWx3-1-50
GRWx3-5-50
GRR12-1-50
GRR12-5-50
SOLUTIONS FOR
GF
GF
INTERNAL GRIP
EXTERNAL GRIP
IMPERIAL METRIC IMPERIAL METRIC
.061
.049
3
4
.122
.092
6
8
.250
.210
14
16
.490
.370
24
32
.061
.061
4
4
.122
.122
8
8
.250
.250
16
16
.490
.490
32
32
.037
.037
2
2
.093
6
.093
6
.150
10
.150
10
.270
17
.270
17
.38
25
.38
25
.46
30
.46
30
1.00
65
1.00
65
.62
40
.62
40
1.56
100
1.56
100
1.05
68
1.05
68
1.60
95
1.47
109
3.27
194
3.00
211
5.90
362
5.61
381
11.75
726
11.26
758
1.10
71
1.10
71
.95
61
.95
61
2.40
155
2.40
155
2.05
132
2.05
132
4.40
284
4.40
284
3.65
236
3.65
236
10.0
647
10.0
647
7.0
453
7.0
453
0.83
50
0.78
54
0.59
36
0.55
38
0.93
57
0.88
60
0.59
36
0.55
38
1.33
81
1.25
86
0.86
52
0.8
56
2.8
174
2.7
181
1.9
116
1.8
123
4.7
297
4.6
303
3.5
213
3.3
226
0.57
33
0.52
37
1.43
83
1.29
93
2.10
125
1.93
136
2.68
162
2.51
173
4.61
281
4.35
297
6.99
422
6.54
451
10.67
652
10.11
688
17.52
1077
16.69
1131
0.32
21
0.32
21
0.34
22
0.34
22
0.47
30
0.47
30
0.47
30
0.47
30
0.49
26
0.41
31
1.21
66
1.03
78
2.17
126
1.96
140
2.61
154
2.38
168
5.49
318
4.93
354
4.94
340
5.28
319
GRIPPER NO.
IMPERIAL
METRIC
8400
19002
8410
19012
8420
19022
8430
19032
8621
8623
8631
8633
8641
8643
8651
8653
8624
8625
8634
8635
8644
8645
8654
8655
15320, 15321 15322, 15323
15330, 15331 15332, 15333
15340, 15341 15342, 15343
15350, 15351 15352, 15353
GRB11-2-12 GRB11-6-12
GRB11-2-16 GRB11-6-16
GRB11-2-20 GRB11-6-20
GRB11-2-32 GRB11-6-32
GRB11-2-40 GRB11-6-40
GRB11-2-50 GRB11-6-50
ANGULAR
GF
GF
INTERNAL GRIP
EXTERNAL GRIP
53
.027
43
.032
153
.068
115
.092
530
.252
450
.306
1264
.576
942
.774
941
.43
705
.57
2854
1.49
2442
1.74
8242
4.32
7065
5.04
27669
14.85
24283
16.92
941
.43
705
.59
2346
1.18
1946
1.43
6061
3.18
5221
3.69
18581
10.07
16502
11.34
3323
1.87
3058
2.03
9938
5.56
9085
6.08
24255
14.14
23109
14.85
71382
41.85
68355
43.70
136
0.065
106
0.083
346
0.18
299
0.21
1221
0.61
994
0.75
3951
1.9
3170
2.4
7049
3.7
6089
4.3
22864
12
19964
14
6-INDEX
PARALLEL
(800) 624-8511
CAT-03
6-v
PARALLEL GRIPPERS
INDEX:
Series 190 & 191
Pages 6A-2 to 6A-15
SERIES 190 & 191, GRD, 5300, GRC, GRT, GRS
GRL, GRR, & GRW
Series GRD
Series 5300
SERIES GRW
NEW!
Series GRC
Series GRT
Series GRS
SERIES GRS
WITH SPRING ASSIST
Series GRL
Series GRW
Series GRR
6A
SERIES GRR
SERIES GRL
SERIES GRT
SERIES GRD
SERIES GRC
SERIES
190 & 191
SERIES 5300
6A-1
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/190191
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
JAW STYLE 2
SPRING OPTIONS
0 - None
3 - Spring Assist Close
(Available with -x53x Option
combination only)
4 - Spring Assist Open
(Available with -x04x Option
combination only.)
(Not available on 19x6x size.)
JAW STYLE 1
JAW STYLE 1
19165
19160
19175
19170
19185
19180
19195
19190
JAW STYLE 2
JAW STYLE 2
SHORT TRAVEL SHORT TRAVEL
19166
19161
19176
19171
19186
19181
19196
19191
LONG TRAVEL LONG TRAVEL
19167
19162
19177
19172
19187
19182
19197
19192
191 MODELS
BOTTOM MOUNTING
METRIC
IMPERIAL
CUSTOM GRIPPERS ARE AVAILABLE. PLEASE CONSULT PHD.
GRIPPER
PART
MODEL
NUMBER
19x6x
18433
19x7x
18434
19x8x
18435
19x9x
18436
Available on Jaw Style 2 Models only.
TRAVEL ADJUSTMENT KITS
See page 6A-14 for details.
SENSOR OR SWITCH OPTIONS
0 - Plain
4 - Hall Effect Sensor/Set Point Module
Ready (See note 1.)(Not available with
Spring Option)
5 - Proximity Switch Ready
(6 mm square or Hall Effect proximity
switches)
19171 - 2 - 0 5 3 1
0 - Maximum Force on Open
5 - Maximum Force on Close
(Available on Jaw Style 2 only)
MAXIMUM FORCE
REVERSED JAW MOVEMENT
NOTES:
1) Sensor must be used with a PHD Set Point Module.
2) Switches and all kits must be ordered separately.
190 MODELS
FULL MOUNTING
METRIC
IMPERIAL
JAW STYLE 1
JAW STYLE 1
19065
19060
19075
19070
19085
19080
19095
19090
JAW STYLE 2
JAW STYLE 2
SHORT TRAVEL SHORT TRAVEL
19066
19061
19076
19071
19086
19081
19096
19091
LONG TRAVEL
LONG TRAVEL
19067
19062
19077
19072
19087
19082
19097
19092
JAW STYLE 1
DESIGN NO.
TO ORDER SPECIFY:
Model, Design No., Sensor or Switch Ready
Options, Maximum Force, Spring Options,
and Seals.
6A
PART NUMBER
GRIPPER
MODEL
IMPERIAL
METRIC
19x6x
59792-1
18432
19x7x
59793-1
18437
18438
18438
19x8x
19x9x
18439
18439
Switches must be ordered separately.
See Switches and Sensors section.
SWITCH BRACKETS & TARGETS
FOR INDUCTIVE
PROXIMITY SWITCHES
PART NUMBER
GRIPPER
IMPERIAL
METRIC
MODEL
59794-1
55770
19x6x
59795-1
55771
19x7x
55772
55772
19x8x
55773
55773
19x9x
SWITCH BRACKETS & TARGET KITS
FOR USE WITH:
PHD SERIES 5580 SWITCHES
PART NUMBER
GRIPPER
IMPERIAL
METRIC
MODEL
18674-04
18057-04
19x6x
18675-04
18058-04
19x7x
18676-04
18059-04
19x8x
18677-04
18060-04
19x9x
Sensors must be ordered separately.
HALL EFFECT SENSOR KITS
SEALS
1 - Buna-N
2 - Fluoro-Elastomer
ORDERING DATA: SERIES 190 & 191 PARALLEL GRIPPERS
F
6A-2
SOLUTIONS FOR
BENEFITS: SERIES 190 & 191 PARALLEL GRIPPERS
JAW STYLE 1
JAW STYLE 2
BENEFITS
SERIES 190 &191
Compact size is ideal for handling small parts in confined
areas.
WORKING PRESSURE
■
Units provide true parallel jaw travel for easy tooling design.
BODY
Hardcoated Aluminum
■
Double-acting for either internal or external gripping
applications. Units are specified for maximum grip force for
internal or external gripping for optimum unit performance.
JAWS
Hardened Steel
Optional Spring Assist can be specified to obtain the maximum
amount of gripping force. Except on 19x6x size.
LUBRICATION
■
Rugged jaw and body construction can withstand high impact
and shock loads.
OPTIONS
■
Available in four sizes, two jaw styles, two jaw travels, and
mounting holes on one face, or three faces for maximum
application versatility.
■
Internal jaw mechanism constructed of hardened steel
components for a maintenance-free service life.
■
Close tolerance components eliminate jaw play. Jaws have
dowel holes or male keys for precise tooling location.
■
The Series 191 Gripper body has one mounting face, at the
opposite end to the jaws. The Series 190 body has three
mounting faces, allowing mounting in a variety of attitudes.
■
Series 190 and 191 Grippers are fully field repairable.
■
Proximity Switches or Hall Effect Sensors are available for
indication of jaw position and interfacing to a system
controller.
■
Available with Jaw Travel Adjustment for fine-tuning the jaw
travel in confined working areas.
■
30 psi Min. - 150 psi Max.
[2 bar Min. - 10 bar Max.]
ROD BEARING
Delrin AF
SEALS
Quad Type
PORTS
Permanent for Non-Lube Air
6A
SPECIFICATIONS
■
Parallel Thread
Proximity Switches, Hall Sensor,
Jaw Stroke Adjustment, Spring Assist
6A-3
SOLUTIONS FOR
(800) 624-8511
CAT-03
DIMENSIONS: SERIES 190 PARALLEL GRIPPERS - JAW STYLE 1
FULL MOUNTING
LETTER
DIM.
NOMINAL
JAW TRAVEL
A CLOSED**
A OPEN**
B
C
D
F
G
H
K
L
M
O*
P*
Q
6A
R
S
T
W
Y
Z
AA
BB
CC
DD
EE
MODEL NUMBER
19075
19080
mm
in
19060
in
19065
mm
19070
in
.157
4
.276
7
.345
.540
1.024
.555
.215
.375
#5
1.289
1.937
.138
1.249
.6875
.710
6-32 x
.22 DP
.681
1.624
.367
1/8
.276
#6
1.045
10-32
.176
.505
1/16
8.75
13.75
26.0
14.0
5.5
10.0
M3
32.0
48.5
3.5
31.0
18.0
18.0
M3 x 0.5 x
4.5 DP
18.0
40.0
9.0
3.0
7.0
M3
26.0
M3 x 0.5
3.5
14.5
2.5
7.75
.315
10.25
.403
20.0
.787
10.0
.398
4.5
.177
8.0
.312
M2.5
#4
25.5
1.012
39.5
1.563
2.5
.098
26.01
1.031
14.0
.5310
14.0
.550
4-40 x M3 x 0.5 x
4.5 DP
.19 DP
15.5
.601
33.0
1.312
8.5
.351
2.5
3/32
5.0
.196
M3
#4
22.0
.871
10-32 M3 x 0.5
3.0
.167
12.5
.465
2.5
1/16
19085
mm
19090
in
19095
mm
.394
10
.512
13
.581
.915
1.496
.791
.256
.500
#8
1.635
2.500
.196
1.624
.8430
1.100
8-32 x
.28 DP
.785
2.062
.380
1/8
.393
#8
1.412
10-32
.193
.592
1/16
14.75
23.25
38.0
20.0
6.5
12.0
M4
41.0
63.5
5.0
41.0
22.0
28.0
M4 x 0.7 x
6.0 DP
20.5
52.0
9.5
4.0
10.0
M4
36.0
M5 x 0.8
5.5
15.0
3.0
.700
1.150
1.968
1.027
.394
.625
#10
2.081
3.242
.256
2.108
1.0940
1.535
10-24 x
.38 DP
.870
2.655
.322
3/16
.511
#10
1.854
10-32
.153
.750
1/16
17.75
29.25
50.0
26.0
10.0
16.0
M5
53.0
82.5
6.5
53.5
28.0
39.0
M5 x 0.8 x
7.5 DP
22.0
67.5
8.0
5.0
13.0
M5
47.0
M5 x 0.8
4.5
19.5
3.0
P* SQ
6X CLEARANCE
HOLE FOR W
DOWEL PIN
IN BODY
8X Q THREAD
IN BODY
5
P*
R
2X THRU DIA
AND C'BORE
FOR Z SHCS
SEE PROXIMITY
SWITCH OPTION
PAGE FOR DETAIL
H
S
K
NOTES:
1) *TOLERANCE BETWEEN DOWEL PIN HOLES IS ± .0008 [± 0.02]
2) NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm
3) CIRCLED NUMBERS INDICATE POSITIONS.
**A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION.
D
A
6
BB PORT FITTING FOR EE ID TUBE
IS SUPPLIED WITH UNIT
F
DD
CC
1
F/2
L
4
Y
P C
AA
T
O*
M
B
SQ
2X CLEARANCE HOLE
FOR G SCREW EACH JAW
2
3
CLEARANCE HOLE FOR W
DOWEL PIN EACH JAW
All dimensions are reference only unless specifically toleranced.
6A-4
(800) 624-8511
CAT-03
SOLUTIONS FOR
FULL MOUNTING
MODEL NUMBER
19091/92 19096/97
mm
in
.512
13
.866
22
2.353
59.75
2.805
71.25
2.865
72.75
3.671
93.25
1.968
50.0
1.027
26.0
.9842
25.0
.625
12.0
10-24 x M5 x 0.8 x
.38 DP
10.0 DP
2.081
53.0
.254
6.5
.256
6.5
1.238
31.5
1.0940
28.0
1.535
39.0
10-24 x M5 x 0.8 x
.38 DP
7.5 DP
.870
22.0
1.785
45.5
.322
8.0
3/16
5.0
.5118
13.0
±.0008
±0.020
# 10
M5
.180
6.5
10-32
M5 x 0.8
.153
4.5
.750
19.5
1/16
3.0
6X CLEARANCE HOLE
FOR W DOWEL PIN
IN BODY
P** SQ
8X Q THREAD
IN BODY
2X THRU DIA AND
C'BORE FOR Z SHCS
5
P
R
SEE PROXIMITY
SWITCH OPTION
PAGE FOR DETAIL
H S
D REF
NOTES:
1) *A CLOSED & OPEN ARE FOR MODELS 19061, 71, 81, 91, 66, 76, 86, & 96
AL CLOSED & OPEN ARE FOR MODELS 19062, 72, 82, 92, 67, 77, 87, & 97
2) **TOLERANCE BETWEEN DOWEL PIN HOLES IS ± .0008 [±0.02]
A
.079 [2.0]
KEY DEPTH
• A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
CC
M
D ±.0003
[±.007]
F
L
AL
6
.080
[2.0]
PLUG
HEIGHT
1
BB PORT
FITTING FOR EE ID TUBE
AA
Y
JAW KEY DETAIL
DD
6A
LETTER
19061/62 19066/67 19071/72 19076/77 19081/82 19086/87
DIM.
in
mm
in
mm
in
mm
NOMINAL
JAW TRAVEL
.394
.276
4
10
7
.157
SHORT
.630
.433
8
16
11
.315
LONG
1.841
1.329
26.75
46.75
33.75
A CLOSED* • 1.054
2.175
1.545
29.25
55.25
39.25
1.151
A OPEN* •
2.353
1.802
36.75
59.75
45.75
AL CLOSED* • 1.447
2.923
2.175
43.25
74.25
55.25
1.702
AL OPEN* •
1.496
1.024
20.0
38.0
26.0
.787
B
.791
.555
10.0
20.0
14.0
.398
C
.7480
.4921
10.0
19.0
12.5
.3937
D
.375
.250
5.0
10.0
6.5
.188
F
8-32 x M4 x 0.7 x
6-32 x M3 x 0.5 x
3-56 x M2.5 x 0.45
G
.32 DP
.28 DP
8.0 DP
6.0 DP
.18 DP x 5.0 DP
1.635
1.289
25.5
41.0
32.0
1.012
H
.212
.204
4.0
5.5
5.0
.159
K
.197
.138
2.5
5.0
3.5
.098
L
.960
.696
14.0
24.0
17.5
.553
M
.8430
.6875
14.0
22.0
18.0
.5310
O**
1.100
.710
14.0
28.0
18.0
.550
P**
8-32 x M4 x 0.7 x
6-32 x M3 x 0.5 x
4-40 x M3 x 0.5 x
Q
.28 DP
.22 DP
4.5 DP
6.0 DP
4.5 DP
.19 DP
.785
.681
15.5
20.5
18.0
.601
R
1.398
1.071
21.0
35.0
26.5
.834
S
.380
.367
8.5
9.5
9.0
.351
T
1/8
1/8
2.5
4.0
3.0
3/32
W
.3940
.2756
5.0
10.0
7.0
.1970
Y
±.0007 ±0.018
±.0006 ±0.015
±0.015
±.0006
#8
#6
M3
M4
M3
#4
Z
.186
.121
2.5
4.5
3.0
.103
AA
10-32 M5 x 0.8
10-32 M3 x 0.5
M3 x 0.5
10-32
BB
.193
.176
3.0
5.5
3.5
.167
CC
.592
.505
12.5
15.0
14.5
.465
DD
1/16
1/16
2.5
3.0
2.5
1/16
EE
B C
SQ
P C
2
4
2X G THREAD
EACH JAW
T
O**
K
3
M REF
SEE JAW TRAVEL ADJUSTMENT
KIT PAGE FOR DETAIL
SOLUTIONS FOR
6A-5
(800) 624-8511
CAT-03
BOTTOM MOUNTING ONLY
LETTER
DIM.
NOMINAL
JAW TRAVEL
A CLOSED**
A OPEN**
B
C
D
F
G
H
K
L
M
P*
Q
R
S
T
W
Y
Z
EE
19160
in
19165
mm
19170
in
.157
.315
.403
.787
.398
.177
.312
#4
1.613
2.164
.098
1.913
.550
4-40 x
.19 DP
3/32
.871
.167
.465
.196
10-32
1/16
4
7.75
10.25
20.0
10.0
4.5
8.0
M2.5
41.0
55.0
2.5
48.5
14.0
M3 x 0.5
x 4.5 DP
2.5
22.0
3.0
12.5
5.0
M3 x 0.5
2.5
.276
.345
.540
1.024
.555
.215
.375
#5
1.970
2.618
.138
2.305
.710
6-32 x
.22 DP
1/8
1.045
.176
.505
.276
10-32
1/16
MODEL NUMBER
19175
19180
mm
in
7
8.75
13.75
26.0
14.0
5.5
10.0
M3
50.0
66.5
3.5
58.5
18.0
M3 x 0.5
x 4.5 DP
3.0
26.0
3.5
14.5
7.0
M3 x 0.5
2.5
.394
.581
.915
1.496
.791
.256
.500
#8
2.420
3.285
.196
2.847
1.100
8-32 x
.28 DP
1/8
1.412
.193
.592
.393
10-32
1/16
19185
mm
19190
in
19195
mm
10
14.75
23.25
38.0
20.0
6.5
12.0
M4
61.5
83.5
5.0
72.5
28.0
M4 x 0.7
x 6.0 DP
4.0
36.0
5.5
15.0
10.0
M5 x 0.8
3.0
.512
.700
1.150
1.968
1.027
.394
.625
#10
2.951
4.112
.256
3.525
1.535
10-24 x
.38 DP
3/16
1.854
.153
.750
.511
10-32
1/16
13
17.75
29.25
50.0
26.0
10.0
16.0
M5
75.0
104.5
6.5
89.5
39.0
M5 x 0.8
x 7.5 DP
5.0
47.0
4.5
19.5
13.0
M5 x 0.8
3.0
P* SQ
2X CLEARANCE
HOLE FOR R DOWEL
PIN IN BODY
4X Q THREAD
IN BODY
5
H
SEE PROXIMITY
SWITCH OPTION
PAGE FOR DETAIL
K
NOTES:
1) *TOLERANCE BETWEEN DOWEL PIN HOLES IS ± .0008 [± 0.02]
6A
**A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
D
A
6
T
W
Z PORT FITTING FOR EE ID TUBE
1
F
F/2
L
4
Y
C
S
M
B
SQ
2X CLEARANCE HOLE
FOR G SCREW
EACH JAW
2
3
CLEARANCE HOLE
FOR R DOWEL PIN
EACH JAW
6A-6
(800) 624-8511
CAT-03
SOLUTIONS FOR
BOTTOM MOUNTING ONLY
MODEL NUMBER
LETTER
19161/62 19166/67 19171/72 19176/77
DIM.
in
mm
in
mm
NOMINAL
JAW TRAVEL
7
.276
4
.157
SHORT
11
.433
8
.315
LONG
33.75
1.329
26.75
A CLOSED* • 1.054
39.25
1.545
29.25
1.151
A OPEN* •
45.75
1.802
36.75
AL CLOSED* • 1.447
55.25
2.175
43.25
1.702
AL OPEN* •
26.0
1.024
20.0
.787
B
14.0
.555
10.0
.398
C
12.5
.4921
10.0
.3937
D
6.5
.250
5.0
.188
F
3-56 x M2.5 x 0.45 6-32 x M3 x 0.5
G
.28 DP x 6.0 DP
x 5.0 DP
.18 DP
50.0
1.970
41.0
1.613
H
3.0
.121
2.5
.103
K
3.5
.138
2.5
.098
L
44.5
1.752
36.5
1.435
M
18.0
.710
14.0
.550
P**
6-32 x M3 x 0.5
4-40 x M3 x 0.5 x
Q
.22 DP x 4.5 DP
4.5 DP
.19 DP
3.0
1/8
2.5
3/32
R
3.5
.176
3.0
.167
T
14.5
.505
12.5
.465
W
7.0
.2756
5.0
.1970
Y
±.0006 ±0.015
±0.015
±.0006
10-32 M3 x 0.5
M3 x 0.5
10-32
Z
2.5
1/16
2.5
1/16
EE
19181/82 19186/87
in
mm
.394
.630
1.841
2.175
2.353
2.923
1.496
.791
.7480
.375
8-32 x
.32 DP
2.420
.186
.197
2.183
1.100
8-32 x
.28 DP
1/8
.193
.592
.3940
±.0007
10-32
1/16
10
16
46.75
55.25
59.75
74.25
38.0
20.0
19.0
10.0
M4 x 0.7 x
8.0 DP
61.5
4.5
5.0
55.5
28.0
M4 x 0.7 x
6.0 DP
4.0
5.5
15.0
10.0
±0.018
M5 x 0.8
3.0
19191/92 19196/97
in
mm
13
.512
22
.866
59.75
2.353
71.25
2.805
72.75
2.865
93.25
3.671
50.0
1.968
26.0
1.027
25.0
.9842
12.0
.625
10-24 x M5 x 0.8
.38 DP x 10.0 DP
75.0
2.951
6.5
.180
6.5
.256
67.5
2.655
39.0
1.535
10-24 x M5 x 0.8
.38 DP x 7.5 DP
5.0
3/16
4.5
.153
19.5
.750
13.0
.5118
—
—
M5 x 0.8
10-32
3.0
1/16
2X CLEARANCE
HOLE FOR R DOWEL
PIN IN BODY
P** SQ
4X Q THREAD
IN BODY
5
SEE PROXIMITY
SWITCH OPTION
PAGE FOR DETAIL
H M
D REF
6A
NOTES:
1) *A CLOSED AND OPEN ARE FOR MODELS 19161, 71, 81, 91, 66, 76, 86, & 96
AL CLOSED & OPEN ARE FOR MODELS 19162, 72, 82, 92, 67, 77, 87, & 97
2) **TOLERANCE BETWEEN DOWEL PIN HOLES IS ± .0008 [±0.02]
A
.079 [2.0]
KEY DEPTH
AL*
.080 [2.0]
PLUG
HEIGHT
6
T
M
D ±.0003
[±.007]
F
L
W
K
Y
B C
4
SQ.
C
JAW KEY DETAIL
1
Z PORT
FITTING FOR EE ID TUBE
2
2X G THREAD
EACH JAW
3
SEE JAW TRAVEL ADJUSTMENT
KIT PAGE FOR DETAIL
SOLUTIONS FOR
6A-7
(800) 624-8511
CAT-03
GRIP FORCE DIAGRAMS: MODELS 1906x & 1916x
Gripping forces are the arithmetic sum of all
forces occurring at gripper jaws.
Gripping force in relation to tooling length
at 87 psi [6 bar] actuating pressure.
LEGEND
SHORT
TRAVEL
TOOLING
LENGTH
LONG
TRAVEL
Max. Grip Force Direction
Min. Grip Force Direction
DOUBLE ACTING
19x61-2-x50x and 19x62-2-x50x
19x66-2-x50x and 19x67-2-x50x
6
[26.7]
5
[22.2]
5
[22.2]
TOTAL GRIP FORCE lbs [N]
19x61-2-x00x and 19x62-2-x00x
19x66-2-x00x and 19x67-2-x00x
6
[26.7]
OPEN
4
[17.8]
61 &
61 &
3
[13.7]
CLOSE
66 C
LOS
E
66 OP
EN
62 & 6
7 CLOS
E
62 & 67
OPEN
2
[8.9]
1
[4.5]
4
[17.8]
61 &
61 &
3
[13.7]
62 &
2
[8.9]
CLOSE
66 O
OPEN
PEN
66 C
LOS
E
67 OP
62 & 6
EN
7 CLOS
E
1
[4.5]
TOOLING LENGTH inches [mm]
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
0
1
[25]
2
[50]
3
[75]
4
[100]
19x60-2-x00x
19x65-2-x00x
6A
6
[26.7]
5
[22.2]
CLOSE
4
[17.8]
OPEN
60 &
65 OP
EN
60 &
65 CL
OSE
3
[13.7]
2
[8.9]
1
[4.5]
0
0
1
[25]
2
[50]
3
[75]
4
[100]
6A-8
(800) 624-8511
CAT-03
SOLUTIONS FOR
LEGEND
SHORT
TRAVEL
TOOLING
LENGTH
LONG
TRAVEL
Spring Assist this Direction
DOUBLE ACTING
DOUBLE ACTING SPRING ASSIST
19x71-2-x50x and 19x72-2-x50x
19x76-2-x50x and 19x77-2-x50x
19x71-2-x53x and 19x72-2-x53x
19x76-2-x53x and 19x77-2-x53x
14
[62.3]
12
[53.4]
10
[44.5]
71 &
8
[35.8]
OPEN
76 CL
CLOSE
OSE
72 & 7
7 CLO
SE
71 & 76
OPEN
72 & 77 OPE
N
6
[26.7]
4
[17.8]
2
[8.9]
10
[44.5]
71 &
8
[35.8]
6
[26.7]
SE
71 & 76 OPE
4
[17.8]
N
72 & 77 OPEN
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
19x71-2-x00x and 19x72-2-x00x
19x76-2-x00x and 19x77-2-x00x
1
[25]
2
[50]
3
[75]
4
[100]
19x71-2-x04x and 19x72-2-x04x
19x76-2-x04x and 19x77-2-x04x
14
[62.3]
12
[53.4]
12
[53.4]
10
[44.5]
71 &
8
[35.8]
CLOSE
7 CLO
2
[8.9]
0
CLOSE
76 OP
EN
OPEN
72 & 7
7 OPE
6
[26.7]
71 & 76
N
CLOSE
72 & 77 CL
4
[17.8]
OSE
2
[8.9]
10
[44.5]
71 &
76 O
CLOSE
PEN
OPEN
8
[35.8]
72 & 7
7 OPE
6
[26.7]
N
71 & 76 CL
4
[17.8]
OSE
72 & 77 CLOSE
2
[8.9]
0
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
1
[25]
19x70-2-x00x
19x75-2-x00x
2
[50]
3
[75]
4
[100]
19x70-2-x04x
19x75-2-x04x
12
[53.4]
14
[62.3]
10
[44.5]
LOSE
72 & 7
CLOSE
8
[35.8]
70 &7
6
[26.7]
70 & 75
OPEN
5 OPE
N
CLOSE
4
[17.8]
2
[8.9]
0
OPEN
76 C
6A
12
[53.4]
12
[53.4]
CLOSE
10
[44.5]
5 OPE
8
[35.8]
N
6
[26.7]
4
[17.8]
70 & 75 CLOS
E
2
[8.9]
OPEN
70 & 7
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
1
[25]
2
[50]
3
[75]
4
[100]
6A-9
SOLUTIONS FOR
(800) 624-8511
CAT-03
LEGEND
SHORT
TRAVEL
TOOLING
LENGTH
LONG
TRAVEL
DOUBLE ACTING
19x81-2-x50x and 19x82-2-x50x
19x86-2-x50x and 19x87-2-x50x
19x81-2-x53x and 19x82-2-x53x
19x86-2-x53x and 19x87-2-x53x
30
[133.5]
25
[111.3]
20
[89.0]
OPEN
81 &
15
[66.8]
86 CL
CLOSE
OSE
81 & 8
6 OPE
N
82 & 87 C
LOSE
82 & 87 O
PEN
10
[44.5]
25
[111.3]
5
[22.2]
81 &
20
[89.0]
15
[66.8]
0
1
[25]
2
[50]
3
[75]
4
[100]
0
1
[25]
2
[50]
3
[75]
4
[100]
19x81-2-x04x and 19x82-2-x04x
19x86-2-x04x and 19x87-2-x04x
19x81-2-x00x and 19x82-2-x00x
19x86-2-x00x and 19x87-2-x00x
30
[133.5]
20
[89.0]
81 &
15
[66.8]
CLOSE
86 OP
EN
81 & 8
OPEN
6 CLOS
E
82 & 87
OPEN
82 & 87 C
LOSE
10
[44.5]
25
[111.3]
CLOSE
82 & 87 OPEN
0
5
[22.2]
25
[111.3]
CLOSE
20
[89.0]
81 &
86 OP
OPEN
EN
15
[66.8]
82 & 87 O
PEN
81 & 86 CL
OSE
10
[44.5]
82 & 87 CLOSE
5
[22.2]
0
0
0
1
[25]
2
[50]
3
[75]
0
4
[100]
1
[25]
19x80-2-x00x
19x85-2-x00x
2
[50]
3
[75]
4
[100]
19x80-2-x04x
19x85-2-x04x
25
[111.3]
30
[133.5]
20
[89.0]
CLOSE
80 & 8
OPEN
5 OPE
15
[66.8]
80 & 85
N
CLOSE
10
[44.5]
OSE
82 & 87
CLOSE
81 & 86 OPE
N
10
[44.5]
5
[22.2]
0
6A
OPEN
86 CL
5
[22.2]
25
[111.3]
CLOSE
OPEN
20
[89.0]
80 & 8
5 OPEN
15
[66.8]
10
[44.5]
80 & 85 CL
OSE
5
[22.2]
0
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
1
[25]
2
[50]
3
[75]
4
[100]
6A-10
(800) 624-8511
CAT-03
SOLUTIONS FOR
LEGEND
SHORT
TRAVEL
TOOLING
LENGTH
LONG
TRAVEL
DOUBLE ACTING
19x91-2-x50x and 19x92-2-x50x
19x96-2-x50x and 19x97-2-x50x
19x91-2-x53x and 19x92-2-x53x
19x96-2-x53x and 19x97-2-x53x
60
[267.0]
45
[200.2]
35
[155.7]
OPEN
91 & 9
6 CLO
30
[133.5]
91 & 96
25
[111.2]
20
[89.0]
SE
CLOSE
OPEN
92 & 97 CLOS
E
15
[66.7]
92 & 97 OPEN
10
[44.5]
E
CLOSE
30
[133.5]
92 & 97 CLOS
E
91 & 96 OPEN
20
[89.0]
92 & 97 OPEN
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
CLOSE
6 OPE
30
[133.5]
91 & 96
25
[111.2]
20
[89.0]
N
OPEN
CLOSE
92 & 97 OPEN
15
[66.7]
92 & 97 CLOSE
40
[178.0]
91 & 9
10
[44.5]
5
[22.2]
1
[25]
2
[50]
4
[100]
CLOSE
91 & 96
40
[178.0]
OPEN
OPEN
30
[133.5]
20
[89.0]
92 & 97 OPEN
91 & 96 CLOS
E
10
[44.5]
92 & 97 CLOSE
3
[75]
0
4
[100]
0
1
[25]
19x90-2-x00x
19x95-2-x00x
45
[200.2]
40
[178.0]
35
[155.7]
30
[133.5]
25
[111.2]
20
[89.0]
15
[66.7]
10
[44.5]
5
[22.2]
0
3
[75]
50
[222.5]
0
2
[50]
60
[267.0]
45
[200.2]
35
[155.7]
1
[25]
19x91-2-x04x and 19x92-2-x04x
19x96-2-x04x and 19x97-2-x04x
19x91-2-x00x and 19x92-2-x00x
19x96-2-x00x and 19x97-2-x00x
2
[50]
3
[75]
4
[100]
19x90-2-x04x
19x95-2-x04x
60
[267.0]
CLOSE
90 & 9
5 OPEN
OPEN
90 & 95 C
LOSE
OPEN
6 CLOS
0
91 & 9
40
[178.0]
10
[44.5]
5
[22.2]
0
50
[222.5]
6A
40
[178.0]
CLOSE
50
[222.5]
OPEN
90 & 95
40
[178.0]
OPEN
30
[133.5]
20
[89.0]
90 & 95 CLOSE
10
[44.5]
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
1
[25]
2
[50]
3
[75]
4
[100]
6A-11
SOLUTIONS FOR
(800) 624-8511
CAT-03
ENGINEERING DATA: SERIES 190 & 191 PARALLEL GRIPPERS
SPECIFICATIONS
UNIT WEIGHT
GRIP FORCE FACTOR (GF )
GRIPPER
DISPLACEMENT STANDARD SPRING ASSIST
MAX. DIRECTION
MIN. DIRECTION
SPRING ASSIST (Sf)
NO.
in3
cm3
oz
g
oz
g
IMPERIAL* METRIC* IMPERIAL METRIC IMPERIAL METRIC
19x60 & 19x65
.012
0.2
1.8 52
—
—
.061
3.93
.049
3.16
—
—
19x61 & 19x66
.012
0.2
1.8 52
—
—
.061
3.93
.049
3.16
—
—
19x62 & 19x67
.012
0.2
2.1 59
—
—
.037
2.39
.029
1.87
—
—
19x70 & 19x75
.036
0.6
3.9 111
4.1 116
.122
7.87
.092
5.93
2.230
9.99
19x71 & 19x76
.036
0.6
4.0 112
4.1 117
.122
7.87
.092
5.93
2.230
9.99
19x72 & 19x77
.036
0.6
4.3 121
4.4 126
.093
6.00
.069
4.45
1.690
7.57
19x80 & 19x85
.110
1.8
10.2 289
10.4 294
.250
16.13
.210
13.55
4.280
19.17
19x81 & 19x86
.110
1.8
10.7 302
10.8 307
.250
16.13
.210
13.55
4.280
19.17
19x82 & 19x87
.110
1.8
11.4 323
11.6 328
.150
9.68
.130
8.39
2.630
11.78
19x90 & 19x95
.250
4.1
23.1 655
23.5 665
.490
31.61
.370
23.87
8.700
38.98
19x91 & 19x96
.250
4.1
23.3 661
23.7 671
.490
31.61
.370
23.87
8.700
38.98
19x92 & 19x97
.250
4.1
25.9 733
26.2 743
.270
17.42
.200
12.90
4.760
21.32
*Maximum grip force direction is always open (internal grip) on all Series 190 and 191 Jaw Style One units. (19x60, 19x65, 19x70, 19x75, 19x80,
19x85, 19x90, and 19x95)
NOTE: Maximum load that grippers can handle will vary based on:
size of part being picked up, shape of part, texture of part, speed at
which part is transferred, working pressure, shape of finger pads,
etc. PHD recommends that the fingers or jaws be tooled or
machined to conform to the shape of the part being gripped.
GRIP FORCE DERATING GRAPH
1.00
.95
TOOLING
LENGTH
.90
DERATING FACTOR
FORCE:
FORCE (lb) = PRESSURE (psi) x GF
FORCE [N] = PRESSURE [bar] x GF
.85
.80
.75
.70
6A
.65
SIZE 9
.60
FORCE WITH SPRING ASSIST:
SIZE 6
SIZE 7
.55
SIZE 8
.50
FORCE (lb) = [PRESSURE (psi) x GF] + or – Sf
0
FORCE [N] = [PRESSURE (bar) x GF] + or – Sf
1
[25]
2
[50]
3
[75]
4
[100]
GRIP FORCE DERATING FOR TOOLING LENGTH:
FORCE (lb) AT TOOLING LENGTH (in) = FORCE (lb) x DERATING FACTOR
FORCE [N] AT TOOLING LENGTH [mm] = FORCE [N] x DERATING FACTOR
Determine Derating Factor using Grip Force Derating Graph.
Example: Gripper Model 19191-2-x50x at 60 psi with a tooling
length of 3.0 inches.
FORCE = 60 psi x .49 GF = 29.4 lb
29.4 lb x .71 (DERATING FACTOR) = 20.8 lb
Metric Example: Gripper Model 19196-2-x50x at 4 bar with a tooling
length of 75 mm.
FORCE = 4 bar x 31.61 GF = 126.44 N
126.44 N x .71 (DERATING FACTOR) = 89.77 N
6A-12
(800) 624-8511
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES 190 & 191 PARALLEL GRIPPERS
SEALS AND FLUIDS
SPECIAL GRIPPERS
Buna-N seals are standard on all Series 190 & 191 Parallel
Grippers. Piston and rod seals are quad type seals and are
compatible with standard paraffin-based lubrication oils used for
pneumatic cylinders.
Grippers for special applications, severe duty or constructed of
special materials are available. Consult PHD.
JAW BACKLASH
A
TEMPERATURE LIMITS
Seals and gripper mechanism are designed to operate at
temperatures between -20° to 180°F [-29° to 82°C]. For operation at
higher temperatures, consult PHD.
B
LIFE EXPECTANCY
All units have been tested to 10 million cycles with minimal
seal wear and minimal backlash.
C
LUBRICATION
Piston, rod, and gripper mechanism are prelubricated at the
factory for service under normal conditions.
MATERIAL
Parallel gripper body is made of hardcoated aluminum. Jaws
and gripper mechanism are manufactured from hardened steel.
INTERNAL SPRINGS
Jaw backlash in the (A) direction will not exceed .005 in
[0.127 mm] per jaw.
Total clearance between the parallel jaws and the body or cover
will not exceed the following figures:
(B) .0025 inch [0.064 mm] per jaw
(C) .003 inch [0.076 mm] per jaw
Internal springs are intended to assist the gripper and add grip
force in one direction. They can be used to open or close the gripper
without pneumatic pressure or to maintain grip force if pressure is
lost. A spring life in excess of 10 million cycles can be expected.
6A
REPEATABILITY
Gripper repeatability is within .004 inch [0.1 mm] of original
center position.
6A-13
SOLUTIONS FOR
(800) 624-8511
CAT-03
OPTIONS & ACCESSORIES: SERIES 190 & 191 PARALLEL
4
KIT NO.
MODEL
NO. IMPERIAL METRIC
HALL SENSOR READY
This option provides unit installed with magnet for use with
PHD Hall Sensor. Kits must be ordered separately.
.375
[9.5]
C
18674-04 18057-04
19x7x
18675-04 18058-04
19x8x
18676-04 18059-04
19x9x
18677-04 18060-04
EACH HALL SENSOR KIT CONTAINS THE FOLLOWING ITEMS:
ONE SENSOR WITH A 12 FOOT [4 m] SHIELDED CABLE
TWO MOUNTING SCREWS
THE SENSOR MAY BE ROTATED TO ALLOW THE CABLE TO
EXTEND FROM ANY SIDE OF UNIT EXCEPT THE PORT SIDE.
.187
[5.0]
B
19x6x
LETTER DIM.
B
C
A
1.431 .650 .777
[36.5] [16.5] [20.0]
1.556 .550 .974
[39.5] [14.0] [25.0]
1.800 .295 1.486
[46.0] [7.5] [38.0]
2.272 .295 1.958
[58.0] [7.5] [50.0]
GRIPPERS CAN BE MOUNTED WITH THE SENSOR SANDWICHED
BETWEEN THE MOUNTING PLATE AND THE GRIPPER.
A
NUMBERS IN [ ] ARE FOR METRIC UNITS AND ARE IN mm
5
SERIES 5580 HALL EFFECT SWITCHES
PROXIMITY SWITCH READY
MODEL NO.
55803-1-02
55804-1-02
55823-1
55824-1
This option provides the grippers with a pin to mount a switch
target for 6 mm square inductive or Hall Effect proximity switch.
See additional information below for details on switch bracket/
target kits.
DESCRIPTION
NPN 4.5-24 VDC with 2 meter cable
PNP 4.5-24 VDC with 2 meter cable
NPN 4.5-24 VDC with Quick Connect
PNP 4.5-24 VDC with Quick Connect
6 mm SQUARE INDUCTIVE PROXIMITY SWITCHES
MODEL NO.
DESCRIPTION
18431-001-02 NPN 10-30 VDC with 2 meter cable
18431-002-02 PNP 10-30 VDC with 2 meter cable
6A
SWITCH BRACKET AND TARGET KITS
FOR IMPERIAL MODELS 19x8x & 19x9x
METRIC MODELS 19x6x, 19x7x, 19x8x, & 19x9x
FOR IMPERIAL MODELS 19x6x AND 19x7x ONLY
.031 [0.8] MAX
SENSING DISTANCE
.296
[7.5]
.031 MAX
SENSING DISTANCE
.44 MAX
.157 CL OF
SENSOR AREA
SWITCH
RETAINER
SCREW
6 mm INDUCTIVE OR
HALL EFFECT PROXIMITY SWITCH
.157 [4.0] CL OF
SENSOR AREA
1.181 [30.0]
1.181
6 mm INDUCTIVE OR
HALL EFFECT PROXIMITY SWITCH
.93
MAX
EACH SWITCH BRACKET & TARGET KIT CONTAINS THE FOLLOWING ITEMS:
1 TARGET WITH SCREW
2 SENSOR BRACKETS WITH MOUNTING SCREWS
EACH SWITCH BRACKET & TARGET KIT CONTAINS THE FOLLOWING ITEMS:
1 TARGET WITH SCREW
BRACKET FOR 6 mm SQUARE SWITCH AND ALL MOUNTING COMPONENTS
SWITCHES ARE ORDERED SEPARATELY
SWITCHES ARE ORDERED SEPARATELY
FOR USE WITH:
SERIES 5580 SWITCHES
GRIPPER
MODEL
19x6x
19x7x
SWITCH BRACKET
& TARGET KIT
59794-1
59795-1
FOR USE WITH:
6 mm SQUARE INDUCTIVE
PROXIMITY SWITCHES
GRIPPER
MODEL
19x6x
19x7x
FOR USE WITH:
SWITCH BRACKET
& TARGET KIT
59792-1
59793-1
GRIPPER
MODEL
19x6x*
19x7x*
19x8x
19x9x
SWITCH BRACKET
& TARGET KIT
55770
55771
55772
55773
* METRIC UNITS ONLY
FOR USE WITH:
6 mm SQUARE INDUCTIVE
PROXIMITY SWITCHES
GRIPPER
MODEL
19x6x*
19x7x*
19x8x
19x9x
SWITCH BRACKET
& TARGET KIT
18432
18437
18438
18439
* METRIC UNITS ONLY
6A-14
(800) 624-8511
CAT-03
SOLUTIONS FOR
ACCESSORIES & JAW TOOLING: SERIES 190 & 191 PARALLEL
JAW TRAVEL ADJUSTMENT KIT
A MAX
C ADJUSTMENT
SCREW WITH
D HEX
B
MODEL
NO.
KIT
NO.
19x6x
18433
19x7x
18434
19x8x
18435
19x9x
18436
A
.197
[5.0]
.315
[8.0]
.394
[10.0]
.591
[15.0]
LETTER DIM.
C
B
.094
[M3 x 10.0]
[2.4]
.157
[M5 x 14.0]
[4.0]
.197
[M6 x 18.0]
[5.0]
.315
[M10 x 22.0]
[8.0]
The Jaw Travel Adjustment Kit contains a screw and a lock nut
used to limit the jaw opening on Jaw Style 2 parallel grippers. Jaw
travel can be adjusted from zero opening to maximum opening.
Below is one application example showing how the jaw travel
With jaws fully open, the tooling hits the
obstruction and the part cannot be gripped.
D
.05
[1.3]
.094
[2.4]
.125
[3.2]
.188
[4.8]
JAW TRAVEL ADJUSTMENT AVAILABLE ON STYLE 2 JAWS ONLY
(19xx1 , 19xx2, 19xx6, AND 19xx7 MODELS).
EACH JAW TRAVEL ADJUSTMENT KIT CONTAINS THE FOLLOWING
ITEMS: ONE ADJUSTMENT SCREW AND NUT
TRAVEL CAN ONLY BE ADJUSTED IN THE MAX FORCE DIRECTION OF
ANY MODEL.
EXAMPLE 1: A MAX FORCE CLOSE GRIPPER;
TRAVEL IS ONLY VARIED IN THE CLOSE DIRECTION, TRAVEL IN THE
OPEN DIRECTION REMAINS UNCHANGED.
EXAMPLE 2: A MAX FORCE OPEN GRIPPER;
TRAVEL IS ONLY VARIED IN THE OPEN DIRECTION, TRAVEL IN THE
CLOSE DIRECTION REMAINS UNCHANGED.
adjustment kit can be of benefit. If the option of maximum grip force
on jaw closure is specified, (-x5xx option) the adjustment kit will
limit the travel in the closing direction.
Turning jaw travel adjustment screw
inward reduces the maximum open position;
allowing the tooling to clear the obstruction.
The part can now be gripped. (The jaw
closed dimension is not affected by the jaw
travel adjustment.)
JAW TOOLING
PROFILE
JAW STYLE 2
Jaw Style 2 allows simple tooling of wide parts. This type of
tooling keeps the part close to the unit for a low profile package.
Jaw Style 2 provides the lowest profile assembly for internal
gripping by keeping the tooling close to the gripper.
MINIMUM
HEIGHT
LOW
PROFILE
DOWEL PINS
Style 1 jaw is provided with a dowel pin hole as a means of
orienting and locating jaw tooling.
MALE KEY
Style 2 jaws have a close tolerance❊ male key for orientation
and precise location of jaw tooling.
Jaw tooling can be readily machined to include a mating slot
for the jaw key.
❊
❊
6A-15
SOLUTIONS FOR
(800) 624-8511
CAT-03
6A
JAW STYLE 1
Jaw Style 1 is ideally suited for small parts. Simple tooling can
provide a long narrowed profile for small parts or for reaching into
confined areas.
NARROW
www.phdinc.com/grd
F
NE
E
D
(800) 624-8511
CAT-03
JAW STYLE
1 - Short Travel
2 - Long Travel
(See Note 1.)
DESIGN NO.
MAXIMUM FORCE
REVERSED JAW MOVEMENT
0 - Maximum Force on Open
5 - Maximum Force on Close
(See Note 2.)
DESCRIPTION
PART NO.
NPN
(Sink)
5-30
VDC, 2 meter cable
51422-005-02
PNP
(Source)
5-30
VDC, 2 meter cable
51422-006-02
DESCRIPTION
PART NO.
18430-001-02 NPN (Sink) 10-30 VDC, 2 meter cable
18430-002-02 PNP (Source) 10-30 VDC, 2 meter cable
DESCRIPTION
NPN (Sink) 4.5-24 VDC, 2 meter cable
PNP (Source) 4.5-24 VDC, 2 meter cable
NPN (Sink) 4.5-24 VDC, Quick Connect
PNP (Source) 4.5-24 VDC, Quick Connect
8 mm THREADED PROXIMITY SWITCHES
PART NO.
55803-1-02
55804-1-02
55823-1
55824-1
SERIES 5580 HALL EFFECT SWITCHES
!
Options may affect unit length.
See unit dimension and options
pages for adders.
SPRING OPTION
0 - None
MEDIUM FORCE
HEAVY FORCE
(See Note 2.)
SEALS
1 - Buna-N
PART NO.
15561-001
15561-002
15561-003
DESCRIPTION
NPN (Sink) 24 VDC, 3 meter cable
PNP (Source) 24 VDC, 3 meter cable
AC 117 VAC, 3 meter cable
DESCRIPTION
PART NO.
Switch Mounting Kit
61494
Each mounting kit contains 1 proximity
switch bracket and 1 mounting screw.
SWITCH MOUNTING KIT FOR SERIES 5580 SWITCHES
SENSOR OPTION
0 - None
1 - Reed Switch Ready
(For Series 5580 Switches)
2 - Hall Effect Switch Ready
6 - 4 mm External Proximity
Switch Ready
Switch Ready
Switch Ready (See Note 1.)
4 mm ROUND PROXIMITY SWITCHES
55822-1
DESCRIPTION
NPN (Sink) or PNP (Source) 4.5-24 VDC,
2 meter cable
Quick Connect
SERIES 5580 REED SWITCHES
NOTES:
1) Long jaw travel and 12 mm external proximity switch ready
options are not available on size 3 or size 4 units.
2) Spring assist available in same direction as maximum force
movement only. (-x04x, -x06x, -x53x, -x55x) See page 6A-28.
3) All switches and kits must be ordered separately. See pages 6A-24 to 6A-27.
PART NO.
55802-1-02
SIZE
3 - 20 mm Bore
4 - 25 mm Bore
5 - 32 mm Bore
6 - 40 mm Bore
G R D 1 4 1 - 1 - 0 5 5 1
SERIES
TYPE
D - Parallel
High Grip Force
STYLE
IMPERIAL
METRIC
1 - Full Mounting
5 - Full Mounting
2 - Full Mounting
6 - Full Mounting
Corrosion Resistant
Corrosion Resistant
3 - Bottom Mount
7 - Bottom Mount
4 - Bottom Mount
8 - Bottom Mount
Corrosion Resistant
Corrosion Resistant
CUSTOM GRIPPERS ARE
AVAILABLE. PLEASE
CONSULT PHD.
TO
PRO
D
S
CT
U
IT
M
O
PRODUCT TYPE
G - Gripper
TO ORDER SPECIFY:
Product Type, Series, Type, Style, Size,
Jaw Style, Design No., and Options.
CUS
T
6A
ORDERING DATA: SERIES GRD PARALLEL GRIPPERS
6A-16
SOLUTIONS FOR
BENEFITS: SERIES GRD PARALLEL GRIPPERS
BENEFITS
■
Very high grip force to weight ratio for efficient use of space
and power.
■
areas.
■
Available in four sizes with two body styles for maximum
application versatility.
■
True parallel jaw travel for easy tooling design.
■
Double acting for either internal or external gripping
applications. Units can be specified with maximum grip force
for internal or external gripping for optimum unit performance.
■
Optional spring assist can be specified to enhance maximum
gripping force or for part retention upon loss of air pressure.
■
Close tolerance jaw mechanism minimizes jaw play. Use of
male keys allows precise positioning of tooling.
■
Internal jaw mechanism is constructed of hardened steel
components and is enclosed for a minimum life of 10 million
trouble-free cycles.
■
Reed, Hall or Proximity Switches are available for indication of
jaw position.
■
Series GRD Grippers are fully field repairable.
SPECIFICATIONS
WORKING PRESSURE
BODY
JAWS
SEALS
6A
LUBRICATION
SERIES GRD
Hardcoat Aluminum
Hardened Steel
Bidirectional Piston Seal
Lip Type or O-ring Rod Seal
Permanent for Non–Lube Air
MAX. ALLOWABLE FORCES & MOMENTS ON GRIPPER JAWS
MODEL NO.
GRDx31
GRDx41
GRDx5x
GRDx6x
Fa
N
lb
109 485
107 476
213 947
320 1423
Mx
in-lb Nm
7
64
10
86
230 26
437 49
COVER
SURFACE
Mz
My
in-lb Nm
8
68
8
68
168 19
281 32
Mz
in-lb Nm
6
52
6
52
138 16
336 38
Fa:
Mx:
My:
Mz:
Total for both jaws
Per jaw, with moments from cover surface
Per jaw, with moments from center of gripper
Per jaw, with moments from cover surface, tooling
keyed to jaw
Fa
Mx
My
6A-17
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
DIMENSIONS: SERIES GRD GRIPPERS, FULL MOUNTING
J1
J4
J3
2X J6
DOWEL
PIN HOLES
4X J5 THREAD
J2
IMPERIAL
ØE
J8
H1 SQUARE
3
J7 4
LETTER
DIM.
NOMINAL
JAW TRAVEL
SHORT
LONG
A CLOSED •
A OPEN •
AL CLOSED •
AL OPEN •
B
C
D
E*
G1
G2*
G3*
G4
G5
G6
G7
2
H1
H2
4X H2
THREAD
1
METRIC
J8
H1 SQUARE
3
ØE
6A
J7 4
2X J6 DOWEL
PIN HOLES
2X J6 DOWEL
PIN HOLES
2
4X H2
THREAD
J6*
J7*
J8*
P1
P2
P3
P4
P5
.187
—
1.368
1.515
—
—
1.141
1.063
1.922
.866 x
.079 DP
.551
.2756
.4921
1.664
.121
.250
6-32 x
.280 DP
.846
4-40 x
.220 DP
.886
.8465
.276
.551
4-40 x
.220 DP
.0634
.5118
.9843
.492
.326
.492
10-32
1/16
4.75
—
34.75
38.5
—
—
29.0
27.0
48.75
22.0 x 2.0
DP
14.0
7.0
12.5
42.25
3.0
6.5
M3 x 0.5 x
6.0 DP
21.5
M3 x 0.5
x 6.0 DP
22.5
21.50
7.0
14.0
M3 x 0.5 x
6.0 DP
2.0
13.00
25.00
12.5
8.25
12.5
M5 x 0.8
3.0
MODEL NO.
GRDx41
GRDx5x
mm
in
mm
in
.335
—
1.851
2.145
—
—
1.457
1.378
1.909
1.104 x
.079 DP
.551
.2756
.4921
1.651
.121
.250
6-32 x
.280 DP
1.102
8-32 x
.330 DP
.906
1.1024
.296
.591
8-32 x
.330 DP
.1259
.7480
1.2205
.492
.332
.472
10-32
1/16
8.5
—
47.0
54.5
—
—
37.0
35.0
48.5
28.0 x
2.0 DP
14.0
7.0
12.5
42.0
3.0
6.5
M3 x 0.5
x 6.0 DP
28.0
M4 x 0.7
x 8.0 DP
23.0
28.00
7.5
15.0
M4 x 0.7
x 8.0 DP
3.0
19.00
31.00
12.5
8.5
12.0
M5 x 0.8
3.0
.315
.502
1.870
2.145
2.412
2.874
1.654
1.575
2.303
1.341 x
.082 DP
.787
.3940
.748
2.006
.186
.375
8-32 x
.320 DP
1.220
10-24 x
.375 DP
1.201
1.2205
.315
.630
10-24 x
.281 DP
.1259
.8661
1.4173
.669
.333
.531
10-32
1/16
8
12.75
47.5
54.5
61.25
73.0
42.0
40.0
58.5
34.0 x
2.0 DP
20.0
10.0
19.0
51.0
4.5
10.0
M4 x 0.7
x 8.0 DP
31.0
M5 x 0.8
x 10.0 DP
30.5
31.00
8.0
16.0
M5 x 0.8
x 7.5 DP
3.0
22.00
36.00
17.0
8.5
13.5
M5 x 0.8
3.0
GRDx6x
in
mm
.423
.699
2.392
2.775
2.933
3.592
2.126
1.969
2.972
1.656 x
.087 DP
1.024
.5118
.9842
2.616
.180
.625
10-24 x
.380 DP
1.535
1/4-20 x
.500 DP
1.614
1.5354
.394
.787
1/4-20 x
.375 DP
.1884
1.0630
1.8504
.669
.392
.669
10-32
1/16
10.75
17.75
60.75
70.5
74.5
91.25
54.0
50.0
75.5
42.0 x
2.25 DP
26.0
13.0
25.0
66.5
6.5
12.0
M5 x 0.8 x
10.0 DP
39.0
M6 x 1.0
x 12.0 DP
41.0
39.0
10.0
20.0
M6 x 1.0
x 9.0 DP
4.0
27.00
47.0
17.0
10.0
17.0
M5 x 0.8
3.0
NOTES:
1) NUMBERS IN [ ] ARE mm
2) *TOLERANCE FOR DIMENSIONS: E = ± .005 [± 0.13]
G2 = ± .0006 [± 0.015]
G3 = ± .0003 [± 0.007]
J2 (BETWEEN DOWEL PIN HOLES) = ± .0008 [± 0.02]
J6 = ± .0005 [H7]
J7 AND J8 = ± .0008 [± 0.02]
3) CIRCLED NUMBERS INDICATE SURFACE POSITIONS
1
SEE SWITCH
OPTION PAGE
FOR DETAIL
J1
J2*
J3
J4
J5
GRDx31
mm
in
5
G4
D
.079 [2.0]
KEY DEPTH
P4 PORT FITTING
FOR P5 ID TUBE
(SUPPLIED WITH UNIT)
6
A (GRDxx1 SHORT TRAVEL)
AL (GRDxx2 LONG TRAVEL)
P3
B
G4
P2
G2
C
G1
G3
G6
P1
G5
G7 THREAD
2X EACH JAW
6A-18
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
DIMENSIONS: SERIES GRD GRIPPERS, BOTTOM MOUNTING
LETTER
DIM.
NOMINAL
JAW TRAVEL
SHORT
LONG
A CLOSED •
A OPEN •
AL CLOSED •
AL OPEN •
B
C
D
E*
H1 SQUARE
3
4
G1
G2*
G3*
G4
G5
G6
G7
2
H1
H2
4X H2
THREAD
1
SEE SWITCH
OPTION PAGE
FOR DETAIL
P1
P2
P3
P4
P5
5
G4
D
.079 [2.0]
KEY DEPTH
6
.187
—
1.368
1.515
—
—
1.141
1.063
1.922
.866 x
.079 DP
.551
.2756
.4921
1.664
.121
.250
6-32 x
.280 DP
.846
4-40 x
.220 DP
.492
.326
.492
10-32
1/16
4.75
—
34.75
38.5
—
—
29.0
27.0
48.75
22.0 x 2.0
DP
14.0
7.0
12.5
42.25
3.0
6.5
M3 x 0.5 x
6.0 DP
21.5
M3 x 0.5
x 6.0 DP
12.5
8.25
12.5
M5 x 0.8
3.0
.335
—
1.851
2.145
—
—
1.457
1.378
1.909
1.104 x
.079 DP
.551
.2756
.4921
1.651
.121
.250
6-32 x
.280 DP
1.102
8-32 x
.330 DP
.492
.332
.472
10-32
1/16
8.5
—
47.0
54.5
—
—
37.0
35.0
48.5
28.0 x
2.0 DP
14.0
7.0
12.5
42.0
3.0
6.5
M3 x 0.5
x 6.0 DP
28.0
M4 x 0.7
x 8.0 DP
12.5
8.5
12.0
M5 x 0.8
3.0
.315
.502
1.870
2.145
2.412
2.874
1.654
1.575
2.303
1.341 x
.082 DP
.787
.3940
.748
2.006
.186
.375
8-32 x
.320 DP
1.220
10-24 x
.375 DP
.669
.333
.531
10-32
1/16
8
12.75
47.5
54.5
61.25
73.0
42.0
40.0
58.5
34.0 x
2.0 DP
20.0
10.0
19.0
51.0
4.5
10.0
M4 x 0.7
x 8.0 DP
31.0
M5 x 0.8
x 10.0 DP
17.0
8.5
13.5
M5 x 0.8
3.0
GRDx6x
in
mm
.423
.699
2.392
2.775
2.933
3.592
2.126
1.969
2.972
1.656 x
.087 DP
1.024
.5118
.9842
2.616
.180
.625
10-24 x
.380 DP
1.535
1/4-20 x
.500 DP
.669
.392
.669
10-32
1/16
10.75
17.75
60.75
70.5
74.5
91.25
54.0
50.0
75.5
42.0 x
2.25 DP
26.0
13.0
25.0
66.5
6.5
12.0
M5 x 0.8 x
10.0 DP
39.0
M6 x 1.0
x 12.0 DP
17.0
10.0
17.0
M5 x 0.8
3.0
NOTES:
2) *TOLERANCE FOR DIMENSIONS: E = ± .005 [± 0.13]
G2 = ± .0006 [± 0.015]
G3 = ± .0003 [± 0.007]
6A
ØE
MODEL NO.
GRDx41
GRDx5x
mm
in
mm
in
GRDx31
mm
in
P4 PORT FITTING
FOR P5 ID TUBE
P3
B
G4
P2
G2
C
G1
G3
G6
P1
G5
G7 THREAD
2X EACH JAW
SOLUTIONS FOR
6A-19
(800) 624-8511
CAT-03
www.phdinc.com/grd
GRIP FORCE GRAPHS: SERIES GRDx3/GRDx4 PARALLEL GRIPPERS
Gripping forces are the arithmetic sum of the forces applied by
both jaws. Gripping forces shown are for maximum force direction
at 87 psi [6 bar] actuating pressure, related to tooling length.
Spring only forces are shown with no actuating pressure.
TOOLING
LENGTH
PART
GRDx31-1-x5xx
MAXIMUM FORCE CLOSE
CLOSE
OPEN
AIR W
ITH H
40
[178]
EAVY
AIR W
ITH M
NG
M SP
RING
30
[134]
AIR ON
LY
20
[89]
10
[45]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
AIR W
ITH H
SPRI
EDIU
OPEN
CLOSE
50
[222]
TOTAL GRIP FORCE lb [N]
50
[222]
GRDx31-1-x0xx
MAXIMUM FORCE OPEN
40
[178]
ITH M
SPRI
NG
EDIU
M SP
RING
30
[134]
AIR ON
LY
20
[89]
HEAVY SPRING
10
[45]
0
EAVY
AIR W
ONLY
MEDIUM SPRING
ONLY
0
0
1
[25]
2
[51]
3
[76]
0
1
[25]
2
[51]
TOOLING LENGTH inch [mm]
GRDx41-1-x5xx
MAXIMUM FORCE CLOSE
GRDx41-1-x0xx
MAXIMUM FORCE OPEN
6A
3
[76]
CLOSE
OPEN
AIR W
ITH H
50
[222]
AIR W
EAVY
ITH M
EDIU
50
[222]
NG
RING
AIR ON
30
[134]
LY
20
[89]
HEAVY SPRING
ONLY
10
[45]
MEDIUM SPRING
ONLY
OPEN
CLOSE
AIR W
ITH H
SPRI
M SP
40
[178]
60
[267]
60
[267]
0
AIR W
EAVY
ITH M
EDIU
SPRI
NG
M SP
40
[178]
RING
AIR ON
30
[134]
LY
20
[89]
HEAVY SPRING
ONLY
10
[45]
MEDIUM SPRING
ONLY
0
0
1
[25]
2
[51]
3
[76]
0
1
[25]
2
[51]
3
[76]
6A-20
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
GRIP FORCE GRAPHS: SERIES GRDx5 PARALLEL GRIPPERS
TOOLING
LENGTH
PART
GRDx51-1-x5xx
MAXIMUM FORCE CLOSE
CLOSE
OPEN
140
[623]
ITH H
EAVY
AIR W
100
[445]
ITH M
NG
M SP
RING
AIR ON
LY
60
[267]
40
[178]
20
[89]
AIR W
120
[534]
SPRI
EDIU
80
[356]
OPEN
CLOSE
140
[623]
AIR W
120
[534]
GRDx51-1-x0xx
MAXIMUM FORCE OPEN
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
ITH H
ITH M
SPRI
NG
EDIU
M SP
RING
80
[356]
AIR ON
LY
60
[267]
40
[178]
20
[89]
0
EAVY
AIR W
100
[445]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
0
1
[25]
2
[51]
3
[76]
4
[102]
0
1
[25]
2
[51]
3
[76]
GRDx52-1-x5xx (LONG TRAVEL)
MAXIMUM FORCE CLOSE
MAXIMUM FORCE OPEN
4
[102]
6A
0
CLOSE
OPEN
90
[400]
80
[356]
AIR W
ITH H
70
[311]
AIR W
EAVY
ITH M
60
[267]
EDIU
80
[356]
SPRI
NG
M SP
50
[222]
RING
AIR ON
40
[178]
LY
30
[134]
HEAVY SPRING
20
[89]
MEDIUM SPRING
10
[45]
OPEN
CLOSE
90
[400]
ONLY
AIR W
ITH H
70
[311]
AIR W
ITH M
60
[267]
SPRI
NG
M SP
RING
AIR ON
40
[178]
LY
30
[134]
10
[45]
0
EDIU
50
[222]
20
[89]
ONLY
EAVY
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
0
0
1
[25]
2
[51]
3
[76]
4
[102]
0
1
[25]
2
[51]
3
[76]
4
[102]
6A-21
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
GRIP FORCE GRAPHS: SERIES GRDx6 PARALLEL GRIPPERS
TOOLING
LENGTH
PART
GRDx61-1-x5xx
MAXIMUM FORCE CLOSE
CLOSE
OPEN
200
[890]
AIR W
ITH H
EAVY
AIR W
ITH M
150
[667]
100
[445]
SPRI
NG
EDIU
M SP
RING
AIR ON
LY
HEAVY SPRING
50
[222]
ONLY
MEDIUM SPRING
OPEN
CLOSE
250
[1112]
250
[1112]
GRDx61-1-x0xx
MAXIMUM FORCE OPEN
200
[890]
AIR W
ITH H
ITH M
150
[667]
100
[445]
0
SPRI
NG
EDIU
M SP
RING
AIR ON
LY
50
[222]
ONLY
EAVY
AIR W
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
0
1
[25]
2
[51]
3
[76]
4
[102]
MAXIMUM FORCE CLOSE
MAXIMUM FORCE OPEN
5
[127]
6A
0
CLOSE
OPEN
140
[623]
ITH H
AIR W
EAVY
ITH M
100
[445]
80
[356]
EDIU
NG
M SP
RING
AIR ON
LY
60
[267]
40
[178]
20
[89]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
AIR W
ITH H
120
[534]
SPRI
AIR W
120
[534]
OPEN
CLOSE
140
[623]
AIR W
ITH M
100
[445]
80
[356]
SPRI
EDIU
NG
M SP
RING
AIR ON
LY
60
[267]
40
[178]
20
[89]
0
EAVY
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6A-22
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRD PARALLEL GRIPPERS
SPECIFICATIONS
TOTAL GRIP
MIN.
TOTAL JAW FORCE AT
87 psi [6 bar]
TRAVEL
in
mm
lb
N
.147 3.75
33 147
.294 7.5
40 178
.275 7.0
87 387
.462 11.75
54 240
.383 9.75
136 604
.659 16.75
91 406
MODEL
NO.
GRDx31
GRDx41
GRDx51
GRDx52
GRDx61
GRDx62
MODEL
NO.
GRDx31
GRDx41
GRDx51
GRDx52
GRDx61
GRDx62
SF
SPRING
FORCE
lb
N
15 67
20 87
42 187
26 117
66 294
44 196
WEIGHT
ADDER
oz
g
1.5
43
2.7
77
5
142
5
142
10 284
10 284
GRIPPER
WEIGHT
oz
g
4 113
6 170
10.5 298
11.5 326
22.5 638
25 709
CLOSE OR
MINIMUM
GF GRIP FORCE FACTOR
OPEN TIME OPERATING DISPLACEMAXIMUM
MINIMUM
87 psi [6 bar] PRESSURE
MENT
DIRECTION
DIRECTION
sec
in3 cm3 IMPERIAL METRIC IMPERIAL METRIC
psi bar
.02
.38
24.5
.33
21.3
.07 1
30 2
.02
.46
29.7
.42
27.1
.12 2
30 2
.04
1.00
64.5
.90
58.1
.25 4
30 2
.04
.62
40.0
.55
35.5
.25 4
30 2
.06
1.56
100.6
1.42
91.6
.54 9
30 2
1.05
67.7
.95
61.3
.06
.54 9
30 2
HEAVY SPRING
MINIMUM
CLOSE OR OPEN TIME
OPERATING
87 psi [6 bar] in sec
PRESSURE AGAINST
WITH
SPRING
psi bar
SPRING SPRING
ONLY
72
5
.03
.02
.03
72
5
.03
.02
.03
72
5
.06
.03
.05
72
5
.06
.03
.05
72
5
.10
.05
.08
72
5
.10
.05
.08
SF
SPRING
FORCE
lb
N
12 55
16 71
35 155
22 96
55 242
37 163
WEIGHT
ADDER
oz
g
1.25 35
2.5
71
4.5 128
4.5 128
9.25 262
9.25 262
MEDIUM SPRING
MINIMUM
CLOSE OR OPEN TIME
OPERATING
87 psi [6 bar] in sec
PRESSURE AGAINST
WITH
SPRING
psi bar
SPRING SPRING
ONLY
60
4
.03
.02
.04
60
4
.03
.02
.04
60
4
.05
.04
.07
60
4
.05
.04
.07
60
4
.08
.06
.10
60
4
.08
.06
.10
TOOLING LENGTH FACTOR
Tooling should be designed so that the grip point is as close to
the cover surface as possible. When the grip point moves away, jaw
friction increases, which decreases grip force. The GF information
given above is for zero tooling length (cover surface). The chart shows
how force decreases as the grip point moves away from the cover
surface. The derating figures and maximum tooling lengths are
included in the graphs on pages 6A-20 to 6A-22.
CHART A
1.0
0.8
0.7
0.6
GRDx31
GRDx41
0.5
0.4
6A
DERATING FACTOR
0.9
GRDx5x
GRDx6x
0.3
0.2
0.1
DISTANCE FROM
COVER SURFACE
0
PART
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
GRIPPER CALCULATION EXAMPLE
TOTAL FORCE lb [N] = [Pressure psi [bar] x GF] x Tooling Length Factor
TOTAL FORCE WITH SPRINGS lb [N] = [(Pressure psi [bar] x GF) ± SF] x Tooling Length Factor
GRD151-2-0501 (WITHOUT SPRINGS)
Operating Pressure = 80 psi
Find Grip Force GF = 1.00 (from Specifications)
Find Tooling Length Factor = .72 (See Chart A above)
(Tooling Length of 2.0 in = .72 Tooling Length Factor)
[1.00 x 80 psi] x .72 = 57.6 lb Total Grip Force
GRD151-1-0531 (WITH SPRINGS)
Spring assist close, medium springs
Find Spring Force SF = 35 (from Specifications)
(All other data is the same.)
[(1.00 x 80 psi) + 35] x .72 = 82.8 lb Total Grip Force
COVER
SURFACE
2.0 [50]
PART
6A-23
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
ENGINEERING DATA: SERIES GRD PARALLEL GRIPPERS
SEALS AND FLUIDS
LUBRICATION
Buna-N seals are standard on all Series GRD Parallel Grippers.
Piston seals are long life Buna-N and rod seals are lip type or Orings. Both are compatible with standard paraffin-based lubrication
oils used for pneumatic cylinders. For compatibility with other
fluids, consult PHD.
Seals and gripper mechanism are prelubricated at the factory
for service under normal operating conditions.
MATERIAL
and operating mechanism are manufactured from hardened steel.
TEMPERATURE LIMITS
Seals and gripper mechanism are designed for use in
temperatures from –20° to 180°F [–30° to 82°C]. For higher
temperatures, consult PHD.
SPECIAL GRIPPERS
Grippers for special applications, severe duty, or constructed of
LIFE EXPECTANCY
REPEATABILITY
All units with Buna-N seals have been tested to 10 million
cycles with minimal seal wear and minimal backlash.
Grip repeatability is within .004 inch [0.10 mm] of original
centered position.
INTERNAL SPRINGS
BACKLASH
Internal springs are intended to assist the gripper and add
to grip force in one specific direction. They can be used to open or
close the gripper without pneumatic pressure or to maintain spring
grip force if pressure is lost. Spring life in excess of 10 million
cycles can be expected.
B
Jaw backlash in the (A) direction will not
exceed .005 in [0.127 mm] per jaw.
Total clearance between the parallel jaws and
the gripper body or cover will not exceed the
following figures:
(B) .0025 in [0.064 mm]
(C) .003 in [0.076 mm]
A
C
SENSOR OPTIONS & ACCESSORIES: SERIES GRD
1
Options -1 and -2 equip the gripper with magnets for use with
PHD Series 5580 Reed and Hall Effect Switches. See Switches and
Sensors section for complete switch specifications. Switches and
mounting kits must be ordered separately.
6A
REED SWITCH READY
2
.197 [5.0] MAX - HALL EFFECT
.039 [1.0] MAX - REED
HALL EFFECT SWITCH READY
.079 [2.0] HEX
FOR CLAMPING
PROXIMITY
SWITCH
REED SWITCHES
PART NO.
55802-1-02
55822-1
COLOR
White
White
COLOR
Yellow
Red
Yellow
Red
1.180
[30.0]
DESCRIPTION
2 meter cable
Quick Connect
HALL EFFECT SWITCHES
PART NO.
55803-1-02
55804-1-02
55823-1
55824-1
.361
[9.2]
DESCRIPTION
PART NO.
Switch Mounting Kit
61494
17533-00-02 2 meter Cordset with Quick Connect
DESCRIPTION
Each mounting kit contains 1 proximity switch bracket
and 1 mounting screw.
SWITCH HYSTERESIS
SWITCH TYPE
5580 REED
5580 HALL EFFECT
4,8, & 12 mm PROXIMITY
GRDx31
in
mm
.020
.51
.065 1.65
.015
.38
GRDx41
in
mm
.035
.89
.115 2.92
.015
.38
GRDx51
in
mm
.020
.51
.065 1.65
.015
.38
GRDx61
in
mm
.022
.56
.110 2.79
.015
.38
GRDx52
in
mm
.035
.89
.115 2.92
.015
.38
GRDx62
in
mm
.045 1.14
.215 5.46
.015
.38
6A-24
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
4 mm EXTERNAL PROXIMITY
SWITCH READY (-6xxx)
6
This option equips the gripper with a cover and hardware to
provide for the mounting of 4 mm round metal sensing proximity
switches. The user is required to design and mount targets for the
switch to sense. See the example on page 6A-27. See Switches and
Sensors section for complete switch specifications.
MODEL NO.
LETTER
DIM.
NOMINAL
JAW TRAVEL
SHORT
LONG
A CLOSED*
A OPEN*
AL CLOSED*
AL OPEN*
FP1
FP2
FP3
FP4
FP5
FP6
FP7
FP8
FP9
GRDx6x
GRDx5x
GRDx41
GRDx31
in
mm
in
mm
in
mm
in
mm
.187
—
1.368
1.515
—
—
1.122
.551
.256
.650
.532
.846
.964
.098
4 mm
4.75
—
34.75
38.5
—
—
28.5
14.0
6.5
16.5
13.5
21.5
24.5
2.5
4 mm
.335
—
1.851
2.145
—
—
1.417
.630
.256
.866
.689
.984
1.102
.098
4 mm
8.5
—
47.0
54.5
—
—
36.0
16.0
6.5
22.0
17.5
25.0
28.0
2.5
4 mm
.315
.502
1.870
2.145
2.412
2.874
1.614
.748
.295
.906
.788
1.083
1.201
.098
4 mm
8.0
12.75
47.5
54.5
61.25
73.0
41.0
19.0
7.5
23.0
20.0
27.5
30.5
2.5
4 mm
.423
.699
2.392
2.775
2.933
3.592
2.087
1.220
.354
1.102
.984
1.280
1.398
.098
4 mm
10.75
17.75
60.75
70.5
74.5
91.25
53.0
31.0
9.0
28.0
25.0
32.5
35.5
2.5
4 mm
NOTES:
1) PROXIMITY SWITCHES MUST BE ORDERED SEPARATELY
2) HAND TIGHTEN CLAMP SHCS UNTIL PROXIMITY SWITCHES
NO LONGER MOVE
* A CLOSED REFLECTS THE LARGEST POSSIBLE
CLOSED DIMENSION. A OPEN REFLECTS THE
SMALLEST POSSIBLE OPEN DIMENSION.
4 mm ROUND PROXIMITY SWITCHES
FP5
6A
DESCRIPTION
PART NO.
FP8 HEX
FOR CLAMPING
PROXIMITY SWITCH
FP3
FP4
FP6
FP7
FP1
FP2
2X THRU HOLE FOR FP9
PROXIMITY SWITCH
SOLUTIONS FOR
6A-25
(800) 624-8511
CAT-03
www.phdinc.com/grd
7
provide for the mounting of 8 mm threaded metal sensing proximity
switches. The user is required to design and mount targets for the
switch to sense. See the example on page 6A-27. See Switches and
Sensors section for complete switch specifications.
MODEL NO.
GRDx31
LETTER
mm
DIM.
in
NOMINAL
JAW TRAVEL
4.75
SHORT
.187
—
LONG
—
34.75
A CLOSED*
1.368
38.5
A OPEN*
1.515
—
AL CLOSED*
—
—
AL OPEN*
—
28.5
EP1
1.122
14.0
EP2
.551
6.5
EP3
.256
18.25
EP4
.718
13.5
EP5
.532
23.75
EP6
.935
26.75
EP7
1.053
2.5
EP8
.098
EP9
M8 x 1.0 M8 x 1.0
GRDx6x
GRDx5x
GRDx41
in
mm
in
mm
in
mm
.335
—
1.851
2.145
—
—
1.417
.630
.256
.866
.689
1.063
1.181
.098
M8 x 1.0
8.5
—
47.0
54.5
—
—
36.0
16.0
6.5
22.0
17.5
27.0
30.0
2.5
M8 x 1.0
.315
.502
1.870
2.145
2.412
2.874
1.614
.748
.295
.984
.788
1.279
1.397
.098
M8 x 1.0
8.0
12.75
47.5
54.5
61.25
73.0
41.0
19.0
7.5
25.0
20.0
32.5
35.5
2.5
M8 x 1.0
.423
.699
2.392
2.775
2.933
3.592
2.087
1.220
.354
1.180
.984
1.418
1.535
.098
M8 x 1.0
10.75
17.75
60.75
70.5
74.5
91.25
53.0
31.0
9.0
30.0
25.0
36.0
39.0
2.5
M8 x 1.0
NOTES:
NO LONGER MOVE
* A CLOSED REFLECTS THE LARGEST POSSIBLE
CLOSED DIMENSION. A OPEN REFLECTS THE
SMALLEST POSSIBLE OPEN DIMENSION.
DESCRIPTION
PART NO.
6A
EP5
EP8 HEX
FOR CLAMPING
PROXIMITY SWITCH
EP3
EP4
EP6
EP7
EP1
2X THREAD FOR
EP9 THREADED
PROXIMITY SWITCH
EP2
6A-26
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
8
provide for the mounting of 12 mm threaded metal sensing
proximity switches. The user is required to design and mount
targets for the switch to sense. See the example below.
MODEL NO.
LETTER
DIM.
NOMINAL
JAW TRAVEL
SHORT
LONG
A CLOSED*
A OPEN*
AL CLOSED*
AL OPEN*
TP1
TP2
TP3
TP4
TP5
TP6
TP7
TP8
TP9
GRDx6x
GRDx5x
8.0
.315
12.75
.502
47.5
1.870
54.5
2.145
61.25
2.412
73.0
2.874
41.0
1.614
19.0
.748
7.5
.295
27.0
1.063
20.0
.788
35.0
1.378
38.0
1.496
2.5
.098
M12 x 1.0 M12 x 1.0
TP5
mm
in
mm
in
10.75
.423
17.75
.699
60.75
2.392
70.5
2.775
74.5
2.933
91.25
3.592
53.0
2.087
31.0
1.220
9.0
.354
32.0
1.260
25.0
.984
40.0
1.574
43.0
1.692
2.5
.098
M12 x 1.0 M12 x 1.0
NOTES:
NO LONGER MOVE
TP8 HEX
FOR CLAMPING
PROXIMITY
SWITCH
TP3
TP4
TP6
TP7
TP1
2X THREAD FOR
TP9 THREADED
PROXIMITY
SWITCH
TP2
* A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
DESCRIPTION
SPECIFICATIONS
INPUT VOLTAGE
OUTPUT CURRENT RATING
INRUSH CURRENT
SHORT PR0TECT
REVERSE VOLTAGE
LEAKAGE CURRENT
OUTPUT STATE
REPEATABILITY
ENVIRONMENTAL
15561-001
15561-002
15561-003
10 to 30 VDC
20 to 260 VAC
200 mA. Max.
5-200 mA. Max.
NA
1 Amp 20 ms.
Yes
No
Yes
No
50 µa.
1.5 mA. Max.
Normally Open
± .003 in [0.08 mm]
IEC IP67
EXAMPLE OF TARGET CREATED BY
CUSTOMER FOR EXTERNAL
PROXIMITY SWITCHES
SHCS TARGET - JAWS OPEN
SHCS TARGET - JAWS CLOSED
PROXIMITY CLAMP
SCREW
COVER
WIRING SCHEMATICS
DC
BROWN
BLACK
LOAD
BLUE
PROXIMITY
SWITCHES
MODEL 15561-003 - AC
SWITCH
SWITCH
MODEL 15561-001
DC NPN (SINK)
BLUE
BODY
LINE
BROWN
LOAD
NEUTRAL
DC
SWITCH
MODEL 15561-002
DC PNP (SOURCE)
BLUE
OFF
DC
BROWN
BLACK
6A
PART NO.
15561-001
15561-002
15561-003
ON
LOAD
GRIPPER SHOWN
IN CLOSED POSITION
DC
SOLUTIONS FOR
6A-27
(800) 624-8511
CAT-03
www.phdinc.com/grd
SPRING OPTIONS: SERIES GRD PARALLEL GRIPPERS
3&4
MEDIUM FORCE
SPRING ASSIST (-xx3x) or (-xx4x)
5&6
HEAVY FORCE SPRING ASSIST
(-xx5x) or (-xx6x)
(Full mounting style only) Springs can maintain spring grip
force if air pressure is lost or increase grip force in one specific
direction when used with air pressure. They can open or close the
gripper without air pressure. Spring life in excess of 10 million
cycles can be expected. For minimum operating pressures and
spring forces, see specifications on page 6A-23.
NOTE: Spring assist option may affect dimensions.
MODEL NO.
LETTER
DIM.
NOMINAL
JAW TRAVEL
SHORT
LONG
A CLOSED •
A OPEN •
AL CLOSED •
AL OPEN •
J1
J4
J3
2X J6
DOWEL
PIN HOLES
4X J5 THREAD
J2
J8
H1 SQUARE
3
J7 4
METRIC
2X J6 DOWEL
PIN HOLES
6A
IMPERIAL
1
SEE SWITCH
OPTION PAGE
FOR DETAIL
H1
H2
J1
J2*
J3
J4
J5
2
4X H2
THREAD
B
C
D
G1
G2*
G3*
G4
G5
G6
G7
2X J6 DOWEL
PIN HOLES
5
G4
D
J6*
J7*
J8*
P1
P2
P3
P4
P5
GRDx3x
in
mm
.187
—
1.368
1.515
—
—
1.141
1.063
2.500
.551
.2756
.4921
2.242
.121
.250
6-32 x
.280 DP
.846
4-40 x
.220 DP
.886
.8465
.276
.551
4-40 x
.220 DP
.0634
.5118
.9843
.492
.904
.492
10-32
1/16
GRDx4x
in
mm
4.75
—
34.75
38.5
—
—
29.0
27.0
63.5
14.0
7.0
12.5
57.0
3.0
6.5
M3 x 0.5
x 6.0 DP
21.5
M3 x 0.5
x 6.0 DP
22.5
21.50
7.0
14.0
M3 x 0.5
x 6.0 DP
2.0
13.00
25.00
12.5
23.0
12.5
M5 x 0.8
3.0
.335
—
1.851
2.145
—
—
1.457
1.378
2.599
.551
.2756
.4921
2.341
.121
.250
6-32 x
.280 DP
1.102
8-32 x
.330 DP
.906
1.1024
.296
.591
8-32 x
.330 DP
.1259
.7480
1.2205
.492
1.022
.472
10-32
1/16
in
GRDx5x
mm
.315
.502
1.870
2.145
2.412
2.874
1.654
1.575
3.149
.787
.3940
.748
2.852
.186
.375
8-32 x
.328 DP
1.220
10-24 x
.375 DP
1.201
1.2205
.315
.630
10-24 x
.281 DP
.1259
.8661
1.4173
.669
1.179
.531
10-32
1/16
8.5
—
47.0
54.5
—
—
37.0
35.0
66.0
14.0
7.0
12.5
59.5
3.0
6.5
M3 x 0.5
x 6.0 DP
28.0
M4 x 0.7
x 8.0 DP
23.0
28.00
7.5
15.0
M4 x 0.7
x 8.0 DP
3.0
19.00
31.00
12.5
26.0
12.0
M5 x 0.8
3.0
GRDx6x
8
12.75
47.5
54.5
61.25
73.0
42.0
40.0
80.0
20.0
10.0
19.0
72.5
4.5
10.0
M4 x 0.7
x 8.0 DP
31.0
M5 x 0.8
x 10.0 DP
30.50
31.00
8.0
16.0
M5 x 0.8
x 7.5 DP
3.0
22.00
36.00
17.0
26.0
13.5
M5 x 0.8
3.0
in
mm
.423
.699
2.392
2.775
2.933
3.592
2.126
1.969
4.094
1.024
.5118
.9842
3.738
.180
.625
10-24 x
.380 DP
1.535
1/4-20 x
.500 DP
1.614
1.5354
.394
.787
1/4-20 x
.375 DP
.1884
1.0630
1.8504
.669
1.514
.669
10-32
1/16
10.75
17.75
60.75
70.5
74.5
91.25
54.0
50.0
104.0
26.0
13.0
25.0
95.0
6.5
12.0
M5 x 0.8
x 10.0 DP
39.0
M6 x 1.0
x 12.0 DP
41.0
39.0
10.0
20.0
M6 x 1.0
x 9.0 DP
4.0
27.00
47.0
17.0
38.5
17.0
M5 x 0.8
3.0
NOTES:
2) *TOLERANCE FOR DIMENSIONS:
G2 = ± .0006 [± 0.015]
G3 = ± .0003 [± 0.007]
J2 (BETWEEN DOWEL PIN HOLES) = ± .0008 [± 0.02]
J6 = ± .0005 [H7]
J7 AND J8 = ± .0008 [± 0.02]
.079 [2.0]
KEY DEPTH
6
P4 PORT FITTING
FOR P5 ID TUBE
P3
B
G4
P2
G2
C
G1
G3
G6
P1
G5
G7 THREAD
2X EACH JAW
6A-28
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
MAXIMUM FORCE OPTIONS: SERIES GRD GRIPPERS
5
MAXIMUM FORCE IN CLOSE
DIRECTION (-x5xx)
This option changes the maximum force of the jaws from the
open direction to the closed direction. This switches or changes the
jaw offset 180° from standard.
NOTE JAW OFFSET
ON THIS SIDE.
6A
DIMENSIONS
REMAIN THE SAME.
SEE DIMENSION
PAGES.
6A-29
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
(800) 624-8511
CAT-03
SWITCH OPTIONS
0 - None
7 - Hall Effect Magnet on piston
and “T” slot on the body for
Series 5360 Hall Switches
DESIGN NO.
OPTIONS
DESCRIPTION
NPN (Sink) 4.5-24 VDC, 2 meter Cable
PNP (Source) 4.5-24 VDC, 2 meter Cable
TO
NE
PRO
D
E
D
S
CT
U
IT
M
O
OPTIONS
0 - None
LIGHT SPRING FORCE
3 - Spring Close
4 - Spring Open
HEAVY SPRING FORCE
5 - Spring Close
6 - Spring Open
15360 - 1 - 0 0 0 2
METRIC MODEL
15362 - Size 2
15372 - Size 3
15382 - Size 4
15392 - Size 5
NOTES:
1) See Switches and Senors section for switch information.
2) Switches must be ordered separately.
PART NO.
53603-1-02
53604-1-02
53623-1
53624-1
CUS
T
www.phdinc.com/grd
SERIES 5360 MINIATURE HALL EFFECT SWITCHES
IMPERIAL MODEL
15360 - Size 2
15370 - Size 3
15380 - Size 4
15390 - Size 5
TO ORDER SPECIFY:
Model, Design No., Options, and Seals.
6A
SEALS
1 - Buna-N
ORDERING DATA: SERIES 5300 PARALLEL OVAL GRIPPERS
F
6A-30
SOLUTIONS FOR
BENEFITS: SERIES 5300 PARALLEL OVAL GRIPPERS
SPECIFICATIONS
MEDIA
■
Double-acting for either internal or external gripper applications.
■
Oval piston construction provides high grip force to weight ratio.
■
Optional internal springs allow the unit to be used as a singleacting gripper, for additional grip force, or for grasping an
object without air pressure.
Lubricated Air
MINIMUM
PRESSURE
REQUIREMENTS
25 psi [1.7 bar] without Spring Option
40 psi [2.7 bar] with Light Spring Option
65 psi [4.5 bar] with Heavy Spring Option
MAX. PRESSURE
150 psi [10 bar] Air
JAWS
Hardened Steel
BODY
Hardcoated Aluminum
JAW GUIDE
■
Close tolerance jaw mechanism eliminates jaw play.
■
components and is enclosed to provide long life.
PISTON SEALS
Available with Hall Effect Proximity Switches for indication
of jaw position and interfacing with various controllers and
logic systems.
PORTS
■
SERIES 5300
ROD BUSHING
ROD SEALS
OPTIONS
6A
BENEFITS
Hardened Steel
Bronze
Quad Type
Block Vee with Back-up ring
NPT [BSP]
Series 5360 Switches,
Spring Assist - Light or Heavy
6A-31
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
DIMENSIONS: SERIES 5300 PARALLEL OVAL GRIPPER
MODEL NUMBER
15360
in
LETTER
DIM.
NOMINAL
JAW TRAVEL
A CLOSED •
A OPEN •
B
C
D
E
F
G
CLOSE
OPEN
4X Q THREAD
P SQ
T
SLOTS FOR
OPT HALL
SWITCH
2X THRU DIA
& C'BORE FOR
W SHCS FROM
BOTH SIDES
R
M
L
X
Y
C
EE* L
K
S
15.8
1.00
R
S
T
U
V
W
X
Y
Z
AA
BB
CC
DD
EE
FF
GG
5.71
105.6
6.65
119.9
2.250
47.6
5.500
101.6
1.130
24.4
.420
6.9
.750
15.9
M6 x 1 x 5/16-18 x
.38 DP
8.0 DP
.750
15.9
2.161
40.7
2.100
39.1
.500
11.1
1.500
31.8
M5 x 0.8 1/4-20 x
x 9.7 DP .38 DP
3.187
66.7
.062
1.6
1.687
29.4
3.375
58.7
4.031
72.2
5/16
M6
1.726
32.0
1.600
29.7
2.281
45.2
.680
11.1
M5 x 0.8 1/8 NPT
.750
14.3
.500
11.2
0
1.0
4.000
71.4
2.25
44.5
15372
mm
15380
in
15382
mm
15390
in
15392
mm
25.4
145.0
168.9
57.2
139.7
28.7
10.7
19.1
M8 x 1.25
x 9.5 DP
19.1
54.9
53.3
12.7
38.1
M6 x 1 x
9.7 DP
80.9
1.6
42.8
85.7
102.4
M8
43.8
40.6
57.9
17.3
1/8 BSP
19.1
12.7
0
101.6
57.2
1.31
33.3
1.80
45.8
7.22
8.47
3.000
7.000
1.440
.430
1.000
3/8-16 x
.44 DP
1.000
2.827
2.740
.500
1.750
5/16-18 x
.44 DP
3.625
.087
2.375
4.750
5.531
3/8
2.200
1.860
2.781
.880
1/8 NPT
.937
.593
.035
5.500
2.75
183.4
215.1
76.2
177.8
36.6
10.9
25.4
M10 x 1.5
x 11.0 DP
25.4
71.8
69.6
12.7
44.05
M8 x 1.25
x 11.2 DP
92.1
2.2
60.3
120.7
140.5
M10
55.9
47.2
70.6
22.4
1/8 BSP
23.8
15.1
1.0
139.7
69.9
9.98
253.5
11.72
296.9
4.000
101.6
9.500
241.3
2.190
55.6
.460
11.7
1.500
38.1
1/2-13 x M12 x 1.75
.56 DP x 14.0 DP
1.500
38.1
3.811
96.8
3.680
93.5
.500
12.7
2.750
69.9
3/8-16 x M10 x 1.5
.56 DP x 14.2 DP
4.750
120.7
.131
3.3
3.250
82.6
6.500
165.1
7.531
191.3
1/2
M12
3.000
76.2
2.420
61.5
4.031
102.4
1.050
26.7
1/4 NPT
1/4 BSP
1.625
41.3
.760
19.3
.05
1.0
7.500
190.5
3.96
100.5
NOTES:
2) *EE DIMENSION IS TO BUSHING BLOCK MTG. SCREWS.
A
6A
15370
in
.62
4.16
4.72
1.875
4.000
.960
.270
.625
1/4-20 x
.31 DP
.625
1.604
1.540
.437
1.250
10-24 x
.38 DP
2.625
.062
1.156
2.312
2.843
1/4
1.260
1.170
1.781
.437
10-32
.562
.440
.04
2.810
1.75
H
K
L
M
P
Q
V
FF
U
15362
mm
F
4X G THREAD EACH JAW
AA
B
Z
F
E
D
H
CC
CL
C
GG
DD
2X BB PORT FROM
OPPOSITE SIDE
GRIPPER JAWS: SHOWN AT MID-STROKE
6A-32
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES 5300 PARALLEL OVAL GRIPPERS
SPECIFICATIONS
GRIPPER
NO.
GF
EXTERNAL GRIP
IMPERIAL METRIC
DISPLACEMENT
cm3
in3
GF
INTERNAL GRIP
IMPERIAL METRIC
Sf LIGHT SPRING
FORCE PRELOAD
IMPERIAL METRIC
Sf HEAVY SPRING
FORCE PRELOAD
IMPERIAL METRIC
1536x
.73
12.0
1.47
95.0
1.60
109.0
27.0
121.0
38.5
172.2
1537x
2.58
42.3
3.00
194.0
3.27
211.0
50.0
223.0
85.0
377.6
1538x
6.09
99.8
5.61
362.0
5.90
381.0
88.0
391.0
145.0
647.0
1539x
16.82
275.6
11.26
726.0
11.75
758.0
159.0
706.0
343.0
1527.0
UNIT WEIGHT
SPRING ASSIST
LIGHT
HEAVY
lb
kg
lb
kg
3.2
1.43
3.2
1.44
7.2
3.24
7.2
3.24
14.4 6.53
14.6
6.64
38.7 17.57
39.1 17.73
CHART A
TOOLING LENGTH FAC TOR
1
GRIPPER
NO.
1536x
1537x
1538x
1539x
0.9
0.8
0.7
1536x
0.6
1537x
0.5
STANDARD
lb
kg
3.1
1.41
7.0
3.18
14.0
6.35
37.0 16.78
0
1
[25]
1538x,
1539x
2
3
4
5
6
7
8
9
10
[51] [76] [102] [127] [152] [178] [203] [224] [254]
DISTANCE FROM FACE OF COVER in [mm]
DOUBLE ACTING
Without Springs
SINGLE ACTING
With Spring Close or Spring Open
DOUBLE ACTING
With Spring Assist Close or Open
A
6A
A
NOTE: Maximum load that grippers can handle will vary based on: Size
of part being picked up, shape of part, texture of part, speed at which
part is transferred, working pressure, shape of fingers, etc. PHD
recommends that the fingers of jaws be tooled or machined to conform
to the shape of the part being gripped.
PNEUMATIC FORCE
PNEUMATIC FORCE
SPRING FORCE
SPRING FORCE
PNEUMATIC FORCE
PNEUMATIC FORCE
SPRING FORCE
+
PNEUMATIC FORCE
SPRING FORCE
+
PNEUMATIC FORCE
CONVENTIONAL
AREA
PNEUMATIC FORCE
SECTION A-A TYPICAL
Guards against failure due to unforeseen
pneumatic pressure loss.
PNEUMATIC FORCE
Provides up to four times the gripping
force of conventional grippers of the
same size.
GRIP FORCE EQUATIONS:
1.
All Grippers are double acting.
2.
To calculate grip force on units without springs, complete the
appropriate equation, but leave out the Spring Force (Sf).
3.
Force (lb) = [[Pressure (psi) x GF] + Sf] x Tooling Length Factor
Force [N] = [[Pressure (bar) x GF] + Sf] x Tooling Length Factor
Force (lb) = Pressure (psi) x GF x Tooling Length Factor
Subtract Sf if the springs are working against applied pressure.
Force [N] = Pressure [bar] x GF x Tooling Length Factor
FORCE (lb) = [[PRESSURE (psi) x GF] – Sf] x Tooling Length Factor
To calculate grip force on units with springs, complete the
appropriate equation, including Sf.
Add Sf if the springs are working with applied pressure.
FORCE [N] = [[PRESSURE (bar) x GF] – Sf] x Tooling Length Factor
6A-33
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
ENGINEERING DATA: SERIES 5300 PARALLEL OVAL GRIPPERS
SEALS AND FLUIDS
REPEATABILITY
Buna-N seals are standard on all Series 5300 gripper piston,
rod, and bushing seals. Piston and rod seals are quad type
seals. These seals are compatible with standard paraffin-based
hydraulic fluids used for lubrication of air cylinders or as power
source for hydraulic actuators. Fluoro-Elastomer seals in place of
the Buna-N are optional for various types of hydraulic fluids or for
temperatures up to 400°F [200°C].
centered position.
TEMPERATURE LIMITS
Seals and gripping mechanism are designed for use in
temperatures from –20° to 180°F [–30° to 82°C].
BACKLASH
Backlash of gripper jaw will be less than .004 inch [0.10 mm]
parallel to jaw travel. Side play .007 inch [0.18 mm] maximum with
jaws at closed “A” dimension.
7
LIFE EXPECTANCY
Five million trouble-free cycles can be expected under normal
working conditions. Life can be extended by relubricating jaw
bushing block after five million cycles. Backlash after five million
cycles should be no more than .01 inch [0.25 mm] per jaw.
MATERIAL
Gripper body is made of hardcoated aluminum. Jaw housings
are anodized aluminum and the jaws and internal jaw mechanisms
are manufactured from hardened alloy steel.
SPECIAL UNITS
For grippers for special applications, severe duty, or special
material, consult PHD.
HALL EFFECT MAGNET
6A
Equips piston with magnet and “T” slot on body for Series
5360 Switches.
6A-34
(800) 624-8511
www.phdinc.com/grd
CAT-03
SOLUTIONS FOR
6A
NOTES
6A-35
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grd
(800) 624-8511
CAT-03
TYPE
C - Rotary Parallel
SIZE
3 - 1.00 (25 mm) Bore
4 - 1.50 (40 mm) Bore
5 - 2.00 (50 mm) Bore
6 - 3.00 (75 mm) Bore
DESIGN NO.
OPTIONS
MODEL/JAW OPTION
Standard, Raised Jaw
SHURGRIP, Raised Jaw
Standard, Flat Jaw
SHURGRIP, Flat Jaw
SENSOR OPTION
0 - None
2 - Hall Effect Switch Ready
3 - Reed Switch Ready
5 - Internal Proximity Switch Ready
SHURGRIP only (See Note 3.)
Switch Ready (See Note 2 & 3.)
(See Notes 2 and 5.)
SPRING OPTION
0 - None
MEDIUM DUTY
3 - Spring Assist Closed
HEAVY DUTY
5 - Spring Assist Closed
SEALS
1 - Buna-N
2 - Fluoro-Elastomer (See Note 1.)
TO
NE
PRO
D
E
D
S
CT
U
IT
M
O
NOTES:
1) When ordering Fluoro-Elastomer seals, consult PHD for life expectancy.
See pages 6A-49 and 6A-50 for details.
2) Available on full mounting style only.
SERIES 6200 REED SWITCH
3) See Switch Mounting Kits on pages 6A-49 and 6A-50.
4) See Switches and Sensors section for switch information.
DESCRIPTION
PART NO.
DESCRIPTION
PART NO.
5) Spring Assist Open option not available with -2 or -3 sensor options. 53603-1-02 NPN (Sink) 4.5-24 VDC, 2 meter cable
62002-1-02 NPN (Sink) or PNP (Source) 4.5-24 VDC
53604-1-02 PNP (Source) 4.5-24 VDC, 2 meter cable
12 mm PROXIMITY SWITCH AND NUT
53623-1
INTERNAL PROXIMITY SWITCHES
PNP
(Source)
4.5-24
VDC,
Quick
Connect
53624-1
PART NO.
DESCRIPTION
PROXIMITY SWITCH
GRIPPER
DESCRIPTION
MODEL NO.
MODEL NO.
15561-001 NPN (Sink) 24 VDC
CORDSETS (For Series 5360 Switches with Quick Connect)
18430-001-02
4 mm Round NPN (Sink)
15561-002 PNP (Source) 24 VDC
GRCx3x
PART NO.
DESCRIPTION
18430-002-02
4 mm Round PNP (Source)
15561-003 AC 117 VAC
51422-005-02
8 mm Threaded NPN (Sink)
GRCx4x, 5x, 6x
51422-006-02
8 mm Threaded PNP (Source)
1234-
G R C 1 3 1 - 2 - 0 0 0 1
SERIES
R - Regular Duty
CUS
T
www.phdinc.com/grc
STYLE
IMPERIAL
METRIC
5 - Full Mounting
1 - Full Mounting
6 - Full Mounting
2 - Full Mounting
Corrosion Resistant
Corrosion Resistant
7 - Bottom Mount
3 - Bottom Mount
8 - Bottom Mount
4 - Bottom Mount
Corrosion Resistant
Corrosion Resistant
PRODUCT TYPE
G - Gripper
TO ORDER SPECIFY:
Product Type, Series, Type, Style, Bore Size, Options, Design No., and Seals.
6A
ORDERING DATA: SERIES GRC PARALLEL GRIPPERS
F
6A-36
SOLUTIONS FOR
BENEFITS: SERIES GRC PARALLEL GRIPPERS
BENEFITS
Available in four sizes with two jaw and body styles for
maximum application versatility.
■
High grip force to weight ratio for efficient use of space
and power.
■
True parallel jaw travel with no arcing motion for easy
tooling design.
■
applications.
■
Optional spring assist can be specified to obtain maximum
gripping force.
■
Close tolerance jaw mechanism eliminates jaw play. Use of
dowel pin holes and/or male keys provides precise positioning
of tooling.
■
and shock loads.
■
Reed, Hall or Proximity Switches are available for indication of
jaw position and easy interfacing to a system controller.
■
components and is enclosed for a minimum life of 10 million
■
SHURGRIP version available for restraining jaw movement and
retaining the part upon loss of air pressure. Licensed under
U.S. Patent Number 4768821.
■
SHURGRIP available with enclosed proximity switches to prevent
false signals in applications where metal chips are present.
■
SHURGRIP available with a manual operator located on the
bottom of the unit to allow the jaws to be opened and closed
without air pressure for easy set up and adjustment of tooling.
U.S. Patent No. 4768821
SPECIFICATIONS
WORKING PRESSURE
BODY
JAWS
SEALS
LUBRICATION
SERIES GRC
Hardcoated Aluminum
Hardened Alloy Steel
Quad Type and O-rings
6A
■
MODEL
Fa
NO.
N
lb
GRCx3x 200 890
GRCx4x 1330 5916
GRCx5x 1780 7917
GRCx6x 2220 9875
OPEN Mx
in-lb Nm
130 15
350 40
750 85
2100 237
CLOSE Mx
in-lb Nm
175 20
450 51
950 107
2700 305
My
in-lb Nm
260 29
530 60
1100 124
2250 254
Mz
in-lb Nm
170 19
300 34
520 59
600 68
Fa:
Mx:
My:
Mz:
Total for both jaws
Per jaw, with moments from center of gripper
COVER
SURFACE
Fa
Mz
Mx
My
6A-37
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
DIMENSIONS: STANDARD SERIES GRC PARALLEL GRIPPERS
FULL MOUNTING STYLE
GRC1xx
GRC2xx
GRC5xx
GRC6xx
R1
F1
S
2X N THREAD
T
C
P
SQUARE
4X Q THREAD
4
B
2
2X K DOWEL PIN HOLE
SLOT FOR OPTIONAL
HALL EFFECT OR
REED SWITCH
5
2X D PORT
W
4X Y THREAD
EACH END**
G
OPEN
3
1
F2
X
H
R2
CLOSE
U
F15
R15
6
FLAT JAW
E
J
L
A
RAISED JAW
2X Ø K DOWEL PIN HOLE
FROM OPPOSITE SIDE
CLEARANCE Ø FROM THIS SIDE
6A
2X THRU AND C'BORE
FOR M SHCS
N THREAD FROM
OPPOSITE SIDE
UNITS ARE SHOWN WITH 1 FLAT AND 1 RAISED JAW. UNITS
ARE AVAILABLE ONLY WITH 2 FLAT OR RAISED JAWS.
**NOT RECOMMENDED FOR GRIPPER MOUNTING UNLESS
BOTH ENDS ARE USED.
BOTTOM MOUNTING STYLE
GRC3xx
GRC4xx
GRC7xx
GRC8xx
CIRCLED NUMBERS INDICATE SURFACE POSITIONS.
C
P
SQUARE
4X Q THREAD
4
2
SLOT FOR OPTIONAL
HALL EFFECT OR
REED SWITCH
5
B
2X D PORT
G
OPEN
3
1
H
F2
CLOSE
FLAT JAW
6
R2
E
U
RAISED JAW
A
6A-38
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
DIMENSIONS: STANDARD SERIES GRC PARALLEL GRIPPERS
MODEL NO.
GRCx4x
GRCx5x
GRCx6x
in
mm
in
mm
in
mm
in
mm
1.00
25.5
1.53
39
2.00
51
3.07
78
4.715
5.655
1.575
4.570
10-32
.354
.630
.910
1.654
.1884 x .25 DP
2.953
#10
1/4-20 x .47 DP
1.1810
10-24 x .38 DP
1.614
.630
2.556
1.162
1.378
M4 x 0.7 x .32 DP
.415
2.284
.551
.354
.709
.1884
10-24
1.102
.591
.934
.184
.100
.272
.605
.788
2.657
.551
.354
.709
.1259 x .250 DP
10-24 x .380 DP
1.102
.2953
.5906
.934
.557
.101
.976
7.550
191.7
10.345
262.70
119.7
6.230
158.2
9.495
241.2
13.355
339.2
7.705
143.6
195.8
2.638
67.0
3.936
100.0
2.046
40.0
52.0
7.320
186.0
10.080
256.0
6.004
116.0
152.5
1/8 NPT
1/8 BSP
1/4 NPT
1/4 BSP
1/8 NPT
M5 x 0.8
1/8 BSP
.551
14.0
—
—
.354
9.0
9.0
1.004
25.5
1.030
26.0
.820
16.0
21.0
1.535
39.0
2.559
65.0
1.299
23.0
33.0
3.150
80.00
4.724
120.00
2.441
42.00
62.00
.2509
x
.350
DP
6.02
x
9.0
DP
.3759
x
.450
DP
10.02
x 12.0 DP
.1884 x .310 DP
5.02 x 6.0
5.02 X 8.0
5.905
150.0
7.874
200.0
4.016
75.0
102.0
5/16
M8
3/8
M10
1/4
M5
M6
M10 x 1.5 x 19.0
1/2-13 x 1.000 DP M14 x 2.0 x 28.0 DP
5/16-18 x .630 M8 X 1.25 x 16.0 DP 3/8-16 x .750 DP
M6 x 1.0 x 12 DP
1.9680
50.00
2.9920
76.00
1.4570
30.00
37.00
M10 x 1.5 x 19.0
1/4-20 x .500
M5 x 0.8 x 9.5 DP
M6 x 1.0 x 12.0 DP 5/16-18 x .630 DP M8 x 1.25 x 16.0 DP 3/8-16 x .750 DP
2.678
68.0
3.740
95.0
2.165
41.0
55.0
1.063
27.0
1.890
48.0
16.0
.826
21.0
4.148
105.5
5.767
146.5
65.0
3.370
85.5
2.008
51.0
3.071
78.0
29.5
1.496
38.0
2.244
57.0
3.071
78.0
35.0
1.929
49.0
M4 x 0.7 x 8.0 DP M5 x 0.8 x .350 DP M5 x 0.8 x 9.0 DP M6 x 1.0 x .411 DP M6 x 1.0 x 10.5 DP M8 x 1.25 x .630 DP M8 x 1.25 x 16.0 DP
.671
17.0
.984
25.0
10.5
.555
14.0
3.696
94.0
5.156
131.0
58.0
3.018
76.75
.768
19.5
1.023
26.0
14.0
.610
15.5
.492
12.5
.689
17.5
9.0
.394
10.0
.984
25.0
1.378
35.0
18.0
.788
20.0
.3134
8.02
.5009
12.02
5.02
.2509
6.02
5/16-18
M8 x 1.25
3/8-16
M10 x 1.5
M5 x 0.8
1/4-20
M6 x 1.0
1.535
39.0
2.047
52.0
28.0
1.220
31.0
1.122
28.5
1.968
50.0
15.0
22.5
.886
1.748
44.5
2.830
72.0
23.75
32.5
1.284
.317
8.0
.436
11.0
4.75
6.5
.258
.125
3.0
.250
6.25
2.5
3.0
.125
.451
11.5
.611
15.5
7.0
9.0
.352
.954
24.25
1.415
36.0
15.5
17.5
.683
1.221
31.0
1.713
43.5
25.5
20.0
1.007
4.246
108.0
5.885
149.5
88.0
67.5
3.470
.768
19.5
1.023
26.0
15.5
14.0
.610
.492
12.5
.689
17.5
10.0
9.0
.394
.984
25.0
1.378
35.0
20.0
18.0
.788
.2509 x .370 DP
6.02 x 9.0 DP
.3759 x .560 DP
10.02 X 14.0
5.02 x 8.0 DP
4.02 x 6.0 DP
.1884 x .320 DP
5/16-18
x
.630
DP
M8
x
1.25
x
16.0
DP
3/8-16
x
.787
DP
M10
x
1.5
x 20.0 DP
M5 x 0.8 x 9.5 DP 1/4-20 x .500 DP M6 x 1.0 x 12.5 DP
1.535
39.0
2.047
52.0
31.0
28.0
1.220
.7086
18.0
1.2992
33.0
14.0
.5512
7.5
1.1220
28.50
1.9685
50.00
22.50
.8858
15.00
1.748
44.50
2.830
72.0
32.5
1.284
23.75
.866
22.0
1.165
29.5
18.0
.710
14.25
.098
2.5
.118
3.0
2.5
.100
2.5
1.502
38.25
2.143
54.5
28.75
1.134
24.75
NOTES: 1) NUMBERS IN [ ] ARE IN MILLIMETERS
2) *TOLERANCE FOR DIMENSIONS: J = ± .0010 [±0.03]
K = ± .0005 [±0.013]
P (BETWEEN DOWEL PIN HOLES) = ± .0008 [±0.02]
F6 AND R6 = ± .0005 [±0.013]
F3, R9, AND R10 = ± .0010 [±0.03]
R8 = ± .005 [±0.13]
•A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
RAISED JAW DETAIL
FLAT JAW DETAIL
F2 F1
R2
R12 R1
F14
F12
F13
CLEARANCE FOR TOOLING
MOUNTING SCREWS
F10
MAX RECOMMENDED
TOOLING DIMENSION
A
R14
A
R8
F3
R3
F4
R4
R9 R10
F11
F8
MAX RECOMMENDED
TOOLING DIMENSION
F5
2X R7 THREAD EACH JAW
2X F7 THREAD THRU EACH JAW
R5
F6 DOWEL PIN HOLE THRU EACH JAW
2X R6 DOWEL PIN HOLE EACH JAW
6A-39
SOLUTIONS FOR
R11
(800) 624-8511
CAT-03
www.phdinc.com/grc
6A
GRCx3x
LETTER
DIM.
NOMINAL
JAW TRAVEL
A CLOSED •
A OPEN •
B
C
D
E
G
H
J*
K*
L
M
N
P*
Q
S
T
U
W
X
Y
F1
F2
F3*
F4
F5
F6*
F7
F8
F10
F11
F12
F13
F14
F15
R1
R2
R3
R4
R5
R6*
R7
R8*
R9*
R10*
R11
R12
R14
R15
DIMENSIONS: SHURGRIP SERIES GRC PARALLEL GRIPPERS
FULL MOUNTING STYLE
GRC1xx
GRC2xx
GRC5xx
GRC6xx
R1
F1
S
T
C
P
SQUARE
2X N THREAD
4X Q THREAD
4
2
HEX FOR MANUAL JAW OPERATION
(SEE PAGE 6A-59 FOR HEX SIZES)
5
B
2X K DOWEL PIN HOLE
SLOT FOR OPTIONAL
HALL EFFECT OR REED SWITCH
2X D PORT
W
4X Y THREAD
EACH END**
G
OPEN
3
1
X
H
F2
U
CLOSE
R2
F15
R15
E
6A
FLAT JAW
6
2X THRU AND C'BORE
FOR M SHCS
N THREAD FROM
OPPOSITE SIDE
BOTTOM MOUNTING STYLE
GRC3xx
GRC4xx
GRC7xx
GRC8xx
5
E
J
L
A
RAISED JAW
2X Ø K DOWEL PIN HOLE FROM OPPOSITE SIDE
CLEARANCE Ø FROM THIS SIDE
UNITS ARE SHOWN WITH 1 FLAT AND 1 RAISED JAW. UNITS
ARE AVAILABLE ONLY WITH 2 FLAT OR RAISED JAWS.
**NOT RECOMMENDED FOR GRIPPER MOUNTING UNLESS
BOTH ENDS ARE USED.
C
P
SQUARE
4X Q THREAD
4
CIRCLED NUMBERS INDICATE SURFACE POSITIONS.
B
2
SLOT FOR OPTIONAL
HALL EFFECT OR REED SWITCH
HEX FOR MANUAL JAW OPERATION
2X D PORT
G
OPEN
3
1
H
CLOSE
F2
U
R2
FLAT JAW
6
E
RAISED JAW
A
6A-40
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
DIMENSIONS: SHURGRIP SERIES GRC PARALLEL GRIPPERS
MODEL NO.
GRCx4x
GRCx3x
GRCx5x
GRCx6x
in
mm
in
mm
in
mm
in
mm
1.00
25.5
1.53
39
2.00
51
3.07
78
4.715
5.655
1.575
4.570
10-32
.354
.630
.910
1.654
.1884 x .25 DP
2.953
#10
1/4-20 x .47 DP
1.1810
10-24 x .38 DP
1.614
.630
3.323
1.162
1.378
M4 x 0.7 x .32 DP
1.182
3.051
.551
.354
.709
.1884
10-24
1.102
.591
.934
.184
.100
.272
1.372
1.555
3.424
.551
.354
.709
.1259 x .250 DP
10-24 x .380 DP
1.102
.2953
.5906
.934
.557
.101
1.743
158.2
119.7
6.230
195.8
143.6
7.705
52.0
40.0
2.046
152.5
116.0
6.004
1/8 BSP
M5 x 0.8
1/8 NPT
9.0
9.0
.354
21.0
16.0
.820
33.0
23.0
1.299
62.00
42.00
2.441
5.02 X 8.0
5.02 x 6.0
.1884 x .310 DP
102.0
75.0
4.016
M6
M5
1/4
M6 x 1.0 x 12 DP
5/16-18 x .630 M8 X 1.25 x 16.0 DP
37.00
30.00
1.4570
M5 x 0.8 x 9.5 DP
1/4-20 x .500 M6 x 1.0 x 12.0 DP
55.0
41.0
2.165
21.0
16.0
.826
112.5
84.5
4.432
38.0
29.5
1.496
49.0
35.0
1.929
M4 x 0.7 x 8.0 DP M5 x 0.8 x .350 DP M5 x 0.8 x 9.0 DP
41.0
30.0
1.617
103.5
77. 5
4.080
15.5
14.0
.610
10.0
9.0
.394
20.0
18.0
.788
6.02
5.02
.2509
M6 x 1.0
M5 x 0.8
1/4-20
31.0
28.0
1.220
22.5
15.0
.886
32.5
23.75
1.284
6.5
4.75
.258
3.0
2.5
.125
9.0
7.0
.352
44.25
35.0
1.745
52.5
39.5
2.068
115.0
87.0
4.532
15.5
14.0
.610
10.0
9.0
.394
20.0
18.0
.788
5.02 x 8.0 DP
4.02 x 6.0 DP
.1884 x .320 DP
M5 x 0.8 x 9.5 DP 1/4-20 x .500 DP M6 x 1.0 x 12.5 DP
31.0
28.0
1.220
14.0
7.5
.5512
22.50
15.00
.8858
32.5
23.75
1.284
18.0
14.25
.710
2.5
2.5
.100
55.75
44.25
2.195
262.7
10.345
191.7
7.550
339.2
13.355
241.2
9.495
100.0
3.936
67.0
2.638
256.0
10.080
186.0
7.320
1/4 BSP
1/4 NPT
1/8 BSP
1/8 NPT
—
—
14.0
.551
26.0
1.030
25.5
1.004
65.0
2.559
39.0
1.535
120.00
4.724
80.00
3.150
10.02 x 12.0 DP
.3759 x .450 DP
6.02 x 9.0 DP
.2509 x .350 DP
200.0
7.874
150.0
5.905
M10
3/8
M8
5/16
1/2-13 x 1.000 DP M14 x 2.0 x 28.0 DP
M10 x 1.5 x 19.0
3/8-16 x .750 DP
76.00
2.9920
50.00
1.9680
M10 x 1.5 x 19.0
5/16-18 x .630 DP M8 x 1.25 x 16.0 DP 3/8-16 x .750 DP
95.0
3.740
68.0
2.678
48.0
1.890
27.0
1.063
196.5
7.735
142.5
5.604
78.0
3.071
51.0
2.008
78.0
3.071
57.0
2.244
M6 x 1.0 x .411 DP M6 x 1.0 x 10.5 DP M8 x 1.25 x .630 DP M8 x 1.25 x 16.0 DP
75.0
2.952
54.0
2.127
181.0
7.124
131.0
5.153
26.0
1.023
19.5
.768
17.5
.689
12.5
.492
35.0
1.378
25.0
.984
12.02
.5009
8.02
.3134
M10 x 1.5
3/8-16
M8 x 1.25
5/16-18
52.0
2.047
39.0
1.535
50.0
1.968
28.5
1.122
72.0
2.830
44.5
1.748
11.0.
.436
8.0
.317
6.25
.250
3.0
.125
15.5
.611
11.5
.451
86.0
3.383
61.25
2.410
93.5
3.681
68.0
2.667
199.5
7.853
145.0
5.702
26.0
1.023
19.5
.768
17.5
.689
12.5
.492
35.0
1.378
25.0
.984
10.02 x 14.0
.3759 x .560 DP
6.02 x 9.0 DP
.2509 x .370 DP
5/16-18 x .630 DP M8 x 1.25 x 16.0 DP 3/8-16 x .787 DP M10 x 1.5 x 20.0 DP
52.0
2.047
39.0
1.535
33.0
1.2992
18.0
.7086
50.00
1.9685
28.50
1.1220
72.0
2.830
44.50
1.748
29.5
1.165
22.0
.866
3.0
.118
2.5
.098
104.5
4.111
75.25
2.958
NOTES: 1) NUMBERS IN [ ] ARE IN MILLIMETERS
2) *TOLERANCE FOR DIMENSIONS: J = ± .0010 [±0.03]
K = ± .0005 [±0.013]
P (BETWEEN DOWEL PIN HOLES) = ± .0008 [±0.02]
F6 AND R6 = ± .0005 [±0.013]
F3, R9, AND R10 = ± .0010 [±0.03]
R8 = ± .005 [±0.13]
•A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION.
FLAT JAW DETAIL
RAISED JAW DETAIL
F2
R2
F1 F12
R1
R14
R12
F14
F13
CLEARANCE FOR TOOLING
MOUNTING SCREWS
F10
MAX RECOMMENDED
TOOLING DIMENSION
A
A
F3
F4
2X R6 DOWEL PIN HOLE EACH JAW
R3
R4
F11
F8
MAX RECOMMENDED
TOOLING DIMENSION
R9 R10
F5
2X F7 THREAD THRU EACH JAW
2X R7 THREAD EACH JAW
F6 DOWEL PIN HOLE THRU EACH JAW
R11
R5
R8
6A-41
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
6A
LETTER
DIM
NOMINAL
JAW TRAVEL
A CLOSED •
A OPEN •
B
C
D
E
G
H
J*
K*
L
M
N
P*
Q
S
T
U
W
X
Y
F1
F2
F3*
F4
F5
F6*
F7
F8
F10
F11
F12
F13
F14
F15
R1
R2
R3
R4
R5
R6*
R7
R8*
R9*
R10*
R11
R12
R14
R15
GRIP FORCE GRAPHS: SERIES GRCx3 PARALLEL GRIPPERS
both jaws.
Gripping force shown is in relation to tooling length at 87 psi
[6 bar] actuating pressure. Forces should be multiplied by the jaw
position factor shown on page 6A-46 for an accurate grip force
calculation.
PART
GRCx31-2-xxxx & GRCx33-2-xxxx
STANDARD CLOSE
140
[623]
AIR W
140
[623]
ITH H
120
[534]
EAVY
AIR W
ITH M
SPRI
NG
EDIU
100
[445]
M SP
RING
AIR ON
80
[356]
LY
60
[267]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
40
[178]
20
[89]
STANDARD OPEN
160
[712]
160
[712]
TOOLING
LENGTH
AIR W
ITH HE
120
[534]
RING
IUM SP
RING
H MED
100
[445]
AIR ONLY
80
[356]
60
[267]
HEAVY SPRING
40
[178]
ONLY
MEDIUM SPRING ONLY
20
[89]
0
AVY S
P
AIR WIT
0
0
1
[25]
2
[51]
3
[76]
4
[102]
0
1
[25]
2
[51]
SHURGRIP CLOSE
SHURGRIP OPEN
6A
3
[76]
120
[534]
AIR W
ITH H
AIR W
100
[445]
EAVY
ITH M
80
[356]
140
[623]
120
[534]
140
[623]
SPRI
EDIUM
NG
SPRIN
G
AIR ON
LY
60
[267]
40
[178]
HEAVY SPRING
ONLY
MEDIUM SPRING
20
[89]
AIR W
ITH HE
AVY S
PRING
AIR WIT
H MEDIU
M SPRIN
G
100
[445]
80
[356]
AIR ONLY
60
[267]
40
[178]
HEAVY SPRING ON
LY
MEDIUM SPRING ONLY
20
[89]
ONLY
0
0
0
1
[25]
2
[51]
3
[76]
4
[102]
0
1
[25]
2
[51]
3
[76]
6A-42
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
both jaws.
calculation.
PART
STANDARD CLOSE
350
[1557]
300
[1334]
AIR
300
[1334]
WIT
H HE
AVY
AIR W
SPR
ITH M
ING
EDIU
M SP
RING
250
[1112]
200
[890]
AIR ON
LY
150
[667]
100
[445]
HEAVY SP
RING ONLY
MEDIUM SPRI
NG ONLY
50
[222]
STANDARD OPEN
350
[1557]
TOOLING
LENGTH
AIR W
ITH H
EAVY
AIR W
SPRIN
ITH M
G
EDIUM
SPRIN
G
250
[1112]
200
[890]
AIR ON
LY
150
[667]
100
[445]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
50
[222]
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
0
1
[25]
2
[51]
3
[76]
SHURGRIP CLOSE
SHURGRIP OPEN
4
[102]
6A
0
300
[1334]
AIR
250
[1112]
WIT
H HE
AVY
AIR W
SPR
ITH M
ING
EDIU
M SP
RING
200
[890]
300
[1334]
AIR ON
150
[667]
LY
100
[445]
HEAVY SPRI
NG ONLY
50
[222]
MEDIUM SPRING
AIR W
ITH H
EAVY
SPRIN
AIR W
G
ITH M
EDIUM
SPRIN
G
250
[1112]
200
[890]
AIR ON
150
[667]
LY
100
[445]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
50
[222]
ONLY
0
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
0
1
[25]
2
[51]
3
[76]
4
[102]
6A-43
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
both jaws.
calculation.
PART
STANDARD CLOSE
600
[2668]
AIR
500
[2224]
WITH
HEA
VY S
AIR W
PRIN
ITH M
G
EDIU
M SP
RING
400
[1779]
AIR ON
LY
300
[1334]
200
[890]
HEAVY SPRI
NG ONLY
MEDIUM SPRI
100
[445]
STANDARD OPEN
600
[2668]
TOOLING
LENGTH
AIR W
500
[2224]
EAVY
SPRIN
G
EDIUM
SPRIN
G
ITH M
400
[1779]
AIR ON
LY
300
[1334]
200
[890]
100
[445]
NG ONLY
ITH H
AIR W
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
0
6
[152]
1
[25]
2
[51]
3
[76]
4
[102]
SHURGRIP CLOSE
SHURGRIP OPEN
5
[127]
6A
0
AIR W
400
[1779]
EAVY
ITH M
300
[1334]
AIR W
ITH H
AIR W
500
[2224]
EDIU
SPR
500
[2224]
ING
RING
M SP
AIR ON
LY
200
[890]
HEAVY SPRI
NG ONLY
100
[445]
MEDIUM SPRING
ITH H
EAVY
SPRIN
AIR W
G
ITH M
EDIUM
SPRIN
G
400
[1779]
300
[1334]
AIR ON
LY
200
[890]
HEAVY SPRING
ONLY
MEDIUM SPRING ONLY
100
[445]
ONLY
0
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6A-44
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
both jaws.
calculation.
PART
STANDARD CLOSE
AIR
1200
[5338]
AIR
1000
[4448]
WIT
HH
YS
HM
PRI
EDIU
NG
MS
800
[3558]
PRIN
G
AIR O
NLY
600
[2668]
400
[1779]
HEAVY SP
RING ONLY
MEDIUM SPRI
NG ONLY
200
[890]
AIR W
1200
[5338]
EAV
WIT
STANDARD OPEN
1400
[6227]
1400
[6227]
TOOLING
LENGTH
ITH H
EAVY
AIR W
SPRIN
G
EDIUM
SPRIN
ITH M
1000
[4448]
G
800
[3558]
AIR ON
LY
600
[2668]
400
[1779]
HEAVY SPRING
ONLY
MEDIUM SPRING
200
[890]
ONLY
0
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
7
[178]
8
[203]
9
[229]
0
10
[254]
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
6A
SHURGRIP CLOSE
AIR
800
[3558]
AIR
WIT
HH
WIT
EAV
YS
HM
PRI
EDIU
NG
MS
600
[2668]
1000
[4448]
1000
[4448]
PRIN
G
AIR O
NLY
400
[1779]
HEAVY SP
RING ONLY
200
[890]
SHURGRIP OPEN
AIR W
ITH H
800
[3558]
AIR W
600
[2668]
RING ONLY
SPRIN
EDIUM
G
SPRIN
G
AIR ON
LY
400
[1779]
HEAVY SPRING
ONLY
MEDIUM SPRING
ONLY
200
[890]
MEDIUM SP
EAVY
ITH M
0
0
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
7
[178]
8
[203]
9
[229]
10
[254]
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
6A-45
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
ENGINEERING DATA: SERIES GRC PARALLEL GRIPPERS
SPECIFICATIONS
GRIPPER
NO.
GRCx31 & 33
GRCx32 & 34
GRCx41 & 43
GRCx42 & 44
GRCx51 & 53
GRCx52 & 54
GRCx61 & 63
GRCx62 & 64
GRIPPER
NO.
GRCx31 & 33
GRCx32 & 34
GRCx41 & 43
GRCx42 & 44
GRCx51 & 53
GRCx52 & 54
GRCx61 & 63
GRCx62 & 64
TOTAL GRIP
GRIPPER
WEIGHT
CLOSE OR MINIMUM
MIN.
GRIP FORCE
WEIGHT
ADDER
OPEN TIME OPERATING DISPLACETOTAL JAW FORCE AT
FACTOR (GF)
87 psi [6 bar] (FLAT JAWS) (RAISED JAWS) 87 psi [6 bar] PRESSURE
MENT
TRAVEL
psi bar in3 cm3 IMPERIAL METRIC
lb
N
lb
kg
lb
kg
sec
in
mm
30
2
0.82 13.5
96 427
1.68 0.76
0.13 0.06
.06
.940
24
1.10
71.1
36 2.5 0.82 13.5
83 369
2.32 1.05
0.13 0.06
.06
.940
24
0.95
61.4
30
2
2.77 45.5
3.98 1.81
0.23 0.10
.08
1.475 37.5 209 930
2.4
155.2
36 2.5 2.77 45.5
5.34 2.42
0.23 0.10
.08
1.475 37.5 178 792
2.05
132.6
30
2
6.58 108.0
0.54 0.25
.25
1.945 49.5 383 1704 7.35 3.33
4.4
284.5
36 2.5 6.58 108.0
0.54 0.25
.25
1.945 49.5 318 1414 10.52 4.77
3.65
236.0
30
2
22.2 364.0
1.24 0.56
.30
3.010 76.5 870 3870 20.47 9.28
10
646.7
36 2.5 22.2 364.0
1.24 0.56
.30
3.010 76.5 609 2709 28.2 12.79
7
452.7
SPRING
FORCE (SF)
lb
N
51
227
44
196
110 489
93
414
204 907
170 756
465 2068
320 1423
WEIGHT
ADDER
lb
kg
0.67 0.3
0.67 0.3
1.69 0.8
1.69 0.8
3.48 1.6
3.48 1.6
9.5 4.3
9.5 4.3
HEAVY SPRING
MINIMUM
CLOSE OR OPEN TIME
OPERATING 87 psi [6 bar] in seconds
PRESSURE AGAINST WITH SPRING
psi
bar SPRING SPRING ONLY
72
5
.10
.05
.08
80
5.5
.10
.05
.08
72
5
.16
.06
.10
80
5.5
.16
.06
.10
72
5
.35
.15
.30
80
5.5
.35
.15
.30
72
5
.50
.20
.35
80
5.5
.50
.20
.35
SPRING
FORCE (SF)
N
lb
156
35
133
30
347
78
294
66
140 623
117 520
312 1388
215 956
MEDIUM SPRING
MINIMUM
CLOSE OR OPEN TIME
WEIGHT OPERATING 87 psi [6 bar] in seconds
PRESSURE AGAINST WITH SPRING
ADDER
bar SPRING SPRING ONLY
lb
kg psi
4
0.60 0.27 60
.08
.05
.10
4.5
0.60 0.27 65
.08
.05
.10
4
1.43 0.65 60
.12
.07
.14
4.5
1.43 0.65 65
.12
.07
.14
4
2.88 1.31 60
.30
.20
.35
4.5
2.88 1.31 65
.30
.20
.35
4
7.81 3.54 60
.40
.25
.50
4.5
7.81 3.54 65
.40
.25
.50
The chart below shows how force increases as the jaws move
toward the end positions. The grip forces shown on pages 6A-42 to
6A-45 should be multiplied by the jaw position factor for an accurate
grip force calculation.
The Series GRC Gripper mechanism increases gripping force
as the jaws move away from midposition towards open or closed
position. Tooling can be designed to take advantage of the higher
forces available when the jaws are close to the end positions.
JAW POSITION FACTOR BASED ON
DIMENSION “A” ACROSS GRIPPER JAWS
1.8
JAW POSITION FACTOR
6A
CHART A
1.6
1.4
A
1.2
1.0
GRIPPER MODEL
GRCx31 & 33
GRCx32 & 34
GRCx41 & 43
GRCx42 & 44
GRCx51 & 53
GRCx52 & 54
GRCx61 & 63
GRCx62 & 64
6A-46
4.685
[119.0]
6.200
[157.5]
7.520
[191.0]
10.315
[262.0]
4.785
[121.5]
6.354
[161.4]
7.720
[196.1]
10.622
[269.8]
DIMENSION “A” inches [mm]
4.885 4.985 5.085 5.185 5.285 5.385
[124.1] [126.6] [129.2] [131.7] [134.3] [136.8]
6.507 6.660 6.814 6.967 7.120 7.274
[165.3] [169.2] [173.1] [177.0] [180.9] [184.8]
7.920 8.120 8.320 8.520 8.720 8.920
[201.2] [206.3] [211.4] [216.5] [221.6] [226.7]
10.929 11.236 11.543 11.850 12.157 12.464
[277.6] [285.4] [293.2] [301.0] [308.8] [316.6]
5.485
[139.4]
7.427
[188.7]
9.120
[231.8]
12.771
[324.4]
5.585
[141.9]
7.581
[192.6]
9.320
[236.9]
13.078
[332.2]
5.685
[144.5]
7.735
[196.4]
9.525
[242.0]
13.385
[340.0]
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
CHART B
Design tooling so that the grip point is as close to the cover
surface as possible. When the grip point moves away, jaw friction
increases, which decreases grip force. The GF information given on
page 6A-46 is for zero tooling length (cover surface). The chart shows
how force decreases as the grip point moves away from the cover
surface. The derating figures and maximum tooling lengths are
included in the graphs on pages 6A-42 to 6A-45.
1.0
0.9
DERATING FACTOR
0.8
0.7
GR
GRCCx3x
x4x
0.6
0.5
GRC
x6x
x5x
GRC
0.4
0.3
0.2
0.1
DISTANCE FROM
COVER SURFACE
0
PART
0
1
[25]
2
[51]
3
4
5
6
7
8
9
10
[76] [102] [127] [152] [178] [203] [229] [254]
TOTAL FORCE (lb) = [Pressure (psi) x GF] x Jaw Position Factor x Tooling Length Factor
TOTAL FORCE WITH SPRINGS (lb) = [(Pressure (psi) x GF) ± SF] x Jaw Position Factor x Tooling Length Factor
COVER
SURFACE
3
6.35
GRC141-2-0031
Spring assist close, medium springs
Find Spring Force SF = 78 (From Specifications)
(2.4 x 80 psi) + 78 = 270 lb
270 lb x 1.3 x .68 = 238.7 lb Total Grip Force
6A
GRC141-2-0001
Find Grip Force GF = 2.4 (From Specifications)
Find jaw position factor 1.3 (See Chart A)
Find tooling length factor of .68 (See Chart B)
2.4 x 80 psi = 192 lb
192 lb x 1.3 x .68 = 169.7 lb Total Grip Force
SEALS AND FLUIDS
INTERNAL SPRINGS
Buna-N seals are standard on all Series GRC Parallel Grippers.
Piston seals are quad type and pinion shaft seals are O-rings. Both are
pneumatic cylinders. For compatibility with other fluids, consult PHD.
Internal springs are intended to assist the gripper and add
grip force in one direction. They can be used to open or close the
gripper without pneumatic pressure or to maintain spring grip
force if pressure is lost. Spring life in excess of 10 million cycles can
be expected.
TEMPERATURE LIMITS
SPECIAL GRIPPERS
LIFE EXPECTANCY
REPEATABILITY
All units with Buna-N seals have been tested to 10 million
cycles with minimal seal wear and minimal backlash. FluoroElastomer seals reduce life of product. Consult PHD.
centered position.
LUBRICATION
for service under normal conditions.
MATERIAL
and gripper mechanism are manufactured from hardened steel.
BACKLASH
Jaw backlash in the (A) direction will
not exceed .0025 in [0.06 mm] per jaw.
Total clearance between the parallel
jaws and the body or cover will not exceed
the following figures:
(B) .0025 inch [0.06 mm]
(C) .004 inch [0.1 mm]
A
B
C
6A-47
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
FLAT JAW TOOLING
Special attention should be paid to the distance the fasteners
extend through the flat jaw. If they extend through more than G
dimension and come in contact with the body, damage to the
gripper cover or jaw may occur. Tooling counterbores, fastener
length and tolerances should be specified so that the fastener fully
engages the jaw and nominally extends through .05 inch [1.25 mm]
with a tolerance of ± .03 inch [± .75 mm]. This assures a distance of
G dimension is never reached.
The flat jaw provides two threads for mounting tooling and a
precision hole closely located from the end of the jaw. Customers can
key tooling using the end of the jaw and precision hole to provide
squareness and location. See pages 6A-39 and 6A-41 for maximum
recommended tooling dimensions (dimensions F8 and F10).
MODEL NUMBER
GRCx4x
GRCx5x
in
mm
in
mm
.258 6.6
.317
8.1
.120 3.0
.120
3.0
LETTER
GRCx3x
GRCx6x
in
mm
in
mm
DIM.
.184
4.7
.436 11.1
F12
.098
2.5
.245
6.2
G MIN
NOTES:
1) MOUNTING SCREWS MUST PROTRUDE PAST BOTTOM OF JAW TO ENSURE MAXIMUM
THREAD ENGAGEMENT
2) MOUNTING SCREWS MUST NOT EXCEED RECOMMENDED DEPTH OF ENGAGEMENT
OR COME IN CONTACT WITH BOTTOM OF BODY
G MIN
F12
.050 ± .030
[1.25 ± 0.75]
SEE NOTE 1 & 2
RAISED JAW TOOLING
The boss on raised jaws (dimensions R8 and R10) are held to a
close tolerance. These surfaces can be used as a means of orienting
and precisely keying the tooling to the gripper jaws. Dowel pin holes
in the jaws can also be used for precise tooling location. See pages
6A-39 and 6A-41 for specific jaw dimensions.
ON-CENTER TOOLING
6A
OFF-CENTER TOOLING
≥ R8 MAX
≥ R10 MAX
DOWEL PIN HOLES
6A-48
≥ R10 MAX
≤ R14 – .010 [.25]
≤ R14 – .010 [.25]
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
SENSOR OPTIONS & ACCESSORIES: SERIES GRC
HALL EFFECT SWITCHES
This option equips the gripper with magnets on the rack for use
with PHD Series 5360 Miniature Hall Effect Switches. These switches
mount easily to the gripper using the “T” slot in the side of the body.
Hall Effect Switches are ordered separately. No mounting kit required.
See Switches and Sensors section for switch specifications.
PART NO.
53603-1-02
53604-1-02
53623-1
53624-1
LETTER
DIM.
H1
H2
H3
H4
H5
3
H5
H3
H1
DESCRIPTION
GRCx3x
in
mm
.992 25.25
.580 15.0
.224 5.75
.320
8.0
2.350 60.0
MODEL NUMBER
GRCx4x
GRCx5x
mm
in
mm
in
1.622 41.25
1.372 35.0
.580 15.0
.580 15.0
.224 5.75
.224 5.75
8.0
.320
.320 8.0
3.000 76.5
2.650 67.5
H2
H4
GRCx6x
mm
in
2.207 56.0
.580 15.0
.224 5.75
8.0
.320
3.600 91.5
REED SWITCHES
RS6
RS2
This option equips the gripper with magnets on the rack for
use with PHD Series 6200 Reed Switches and switch mounting kit
60513. These switches mount easily to the gripper using the “T” slot
in the side of the body. Reed Switches and mounting kits are
ordered separately.
PART NO.
62002-1-02
LETTER
DIM.
Mtg Kit
RS1
RS2
RS3
RS4
RS5
RS6
RS1
RS5
DESCRIPTION
8 mm Threaded Reed Switch with 2 meter cable
GRCx3x
in
mm
60513
.992 25.25
.866 22.0
.551 14.0
.512 13.0
.630 16.0
2.350 60.0
MODEL NUMBER
GRCx4x
GRCx5x
mm
in
mm
in
60513
60513
1.622 41.25
1.372 35.0
.866 22.0
.866 22.0
.551 14.0
.551 14.0
.512 13.0
.512 13.0
.630 16.0
.630 16.0
3.000 76.5
2.650 67.5
RS4 HEX
6A
2
RS3 HEX
GRCx6x
mm
in
60513
2.207 56.0
.866 22.0
.551 14.0
.512 13.0
.630 16.0
3.600 91.5
EACH MOUNTING KIT CONTAINS: 1 BRACKET AND 1 NUT
SPECIFICATIONS
OPERATING PRINCIPLE
ACTUATED BY
INPUT VOLTAGE
OUTPUT TYPE
POWER CAPACITY
CURRENT RATING
CONTACT RESISTANCE
ENVIRONMENTAL
OPERATING TEMP.
62002-1-02
Magnetic Reed
Target Magnet
4.5 to 24 VDC
Contact Closure
10 Watt Max.
.2 Amp Max.
110 MOhm Max.
IEC IP67
0° to 80°C
WIRING SCHEMATICS
MODEL NO. 62002-1-02 - NPN (SINK) OR PNP (SOURCE)
INPUT - 4.5-24 VDC
POWER CAPACITY - 10 WATT MAX.
LOAD CURRENT - .2 AMP MAX.
CABLED MODEL 62002 - PNP (SOURCE)
BROWN
BLUE
LOAD
CABLED MODEL 62002 - NPN (SINK)
DC
BROWN
DC
BLUE
LOAD
(800) 624-8511
CAT-03
DC
6A-49
SOLUTIONS FOR
DC
www.phdinc.com/grc
SENSOR OPTIONS & ACCESSORIES: SERIES GRC
INTERNAL PROXIMITY
SWITCH READY
5
(SHURGRIP model only) This option equips the gripper for use
with metal sensing proximity switches. The switch is inserted into a
cavity in the housing and senses a steel pin attached to the jaw. The
slotted switch bracket allows the proximity switches to be adjusted
to sense the jaw positions. The bracket covers the opening so
contaminants do not enter the cavity causing a false signal.
Proximity Switches and mounting kit are ordered separately. See
Switches and Sensors section for complete switch specifications.
The lock housing is designed to accept the following size
proximity switches:
GRCx32 4 mm Round Smooth
GRCx42 8 mm Threaded
PART NO.
18430-001-02
18430-002-02
51422-005-02
51422-006-02
P3
P4
P2
JAW OPEN
SENSING SIDE
JAW CLOSED
SENSING SIDE
LETTER
DIM.
Mounting Kit
P1
P2
P3
P4
GRCx3x
mm
in
52309-02
1.647 42.0
.810 20.5
.675 17.0
.576 14.5
P1
MODEL NUMBER
GRCx4x
GRCx5x
mm
in
mm
in
52309-04
52309-06
2.901 73.5
2.267 57.5
1.300 33.0
.455 11.5
1.247 31.5
1.078 27.5
1.242 31.5
1.242 31.5
GRCx6x
mm
in
52309-08
3.988 101.5
1.971 50.0
1.537 39.0
1.242 31.5
INSTALLATION
REFERENCE DIMENSIONS ARE APPROXIMATIONS ONLY. ACTUAL DIMENSIONS WILL
BE BASED ON ACTUAL SENSING LOCATION.
Adjust switch inward until it touches steel pin, then adjust
outward .02 inch [0.5 mm] to set clear (do this with slide bracket in
place). Adjust bracket to left or right to set switch position.
EACH PROXIMITY SWITCH MOUNTING KIT CONTAINS:
2 SOCKET HEAD CAP SCREWS
1 PROXIMITY SWITCH BRACKET
SWITCH READY
6
6A
DESCRIPTION
4 mm Round NPN (Sink) 10-30 VDC, 2 m cable
4 mm Round PNP (Source) 0-30 VDC, 2 m cable
8 mm Threaded NPN (Sink) 5-30 VDC, 2 m cable
8 mm Threaded PNP (Source) 5-30 VDC, 2 m cable
.060 [1.51 mm] MAX
SWITCH SENSING
DISTANCE
(Full mounting style required) This option provides threaded
mounting holes for mounting 12 mm metal sensing proximity
switches. The customer is required to design and mount a metal
target for the switch to sense. Proximity Switches and mounting kit
are ordered separately. See Switches and Sensors section for
complete switch specifications.
PART NO.
15561-001
15561-002
15561-003
LETTER
DIM.
Mounting Kit
EP1
EP2
EP3
EP4
EP5
EP6
EP7
DESCRIPTION
NPN (Sink) 24 VDC
PNP (Source) 24 VDC
AC 117 VAC
GRCx3x
in
mm
60512
.851 21.5
1.250 32.0
.432 11.0
.907 23.0
1.476 37.5
.313
8.0
.647 16.5
MODEL NUMBER
GRCx4x
GRCx5x
mm
in
mm
in
60512
60512
1.560 39.5
1.383 35.0
1.250 32.0
1.250 32.0
.432 11.0
.432 11.0
.907 23.0
.907 23.0
2.185 55.5
2.008 51.0
8.0
.313
.313 8.0
1.359 34.5
.907 23.0
M4 SHCS
GRCx6x
mm
in
60512
3.311 84.0
1.250 32.0
.432 11.0
.907 23.0
3.937 100.0
8.0
.313
1.204 30.5
EP7
EP6
EP5
EP2
EP4
EACH PROXIMITY SWITCH MOUNTING KIT CONTAINS:
1 PROXIMITY SWITCH BRACKET
6A-50
2X EP1
EP3
M12 x 1.0
THREAD THRU
(800) 624-8511
www.phdinc.com/grc
CAT-03
SOLUTIONS FOR
SPRING OPTIONS: SERIES GRC PARALLEL GRIPPERS
3&4
MEDIUM DUTY SPRING ASSIST
5&6
HEAVY DUTY SPRING ASSIST
S5
(Full mounting style required) Springs can maintain spring grip
force if air pressure is lost or increase grip force in one direction
when used with air pressure. They can open or close the gripper
without air pressure. Spring life in excess of 10 million cycles can
be expected. For minimum operating pressures and spring forces,
see specifications on page 6A-46.
LETTER
DIM.
S1
S2
S3
S4
S5
S6
S7
S8
GRCx3x
in
mm
7.660 193.0
.263
6.5
1.457 37.0
1.536 39.0
.086 2.25
1.812 46.0
.315
8.0
.219
5.5
2
4
MODEL NUMBER
GRCx4x
GRCx5x
mm
in
mm
in
13.180 335.0
10.454 265.5
9.25
.362
9.75
.387
64.0
2.520
1.969 50.0
66.0
2.598
2.008 51.0
5.0
.199
5.0
.201
2.846 72.25
2.341 59.5
10.0
.394
10.0
.394
10.0
.400
7.75
.307
S4
S1
S8
S2
Ø S3
S6
S7 HEX TO BE USED FOR SPRING
REPLACEMENT OR GRIPPER
MAINTENANCE ONLY
WARNING:
DO NOT REMOVE
SPRING HOUSING BHCS
GRCx6x
mm
in
18.580 472.0
9.0
.356
3.701 94.0
3.818 97.0
7.5
.298
3.818 97.0
10.0
.394
10.0
.400
SHURGRIP VERSION
vibration or shock after loss or removal of air pressure may cause
the jaws to open slightly. Care must be taken to design the tooling
attached to the gripper jaws to encapsulate the part. The tooling
should also have a slight “spring” or “deflection action” to retain
tension on the gripper mechanism. PHD is not responsible for lack
of part retention resulting from improper tooling or maintenance of
the gripper.
(Licensed under U.S. Patent No. 4768821)
6A
The SHURGRIP version of the PHD Series GRC Gripper is
intended to maintain a friction lock to restrain jaw movement in the
event of loss or removal of air pressure. This is accomplished
through the use of an internal friction lock clutch. Repeated
MANUAL JAW OPERATION
(SHURGRIP ONLY)
HEX WRENCH (MANUAL OVERRIDE)
WRENCH NOT SUPPLIED
Rotating the hex in the rear of gripper moves jaws open or
closed for easy switch setup and tooling adjustments without
operating the valve.
LETTER
DIM.
HEX SIZE
GRCx3x
in
mm
5/32
4.0
MODEL NUMBER
GRCx4x
GRCx5x
in
mm
in
mm
5/32 4.0
5/16
8.0
GRCx6x
in
mm
5/16
8.0
SHURGRIP TOOLING
Care must be taken to design the tooling to encapsulate the
part being grasped. On SHURGRIP versions, the tooling should have
a slight “spring” or “deflection action” to retain tension on the
gripper mechanism upon loss of air supply.
PHD is not responsible for lack of part retention resulting from
improper tooling or maintenance of the gripper.
6A-51
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grc
(800) 624-8511
CAT-03
GRTx6, 7, & 8
GRIPPER SIZE
GRTx1, 2, 3,
4, & 5
GRTx6, 7, & 8
SERIES
PART NO.
18430-001-02
18430-002-02
51422-005-02
51422-006-02
Options may affect unit length.
See unit dimension and options
pages for adders.
SWITCH DESCRIPTION
PART NO.
51422-005-02
51422-006-02
15561-001
15561-002
12 mm Threaded AC 20-250 VAC
15561-003
EXTERNAL PROXIMITY SWITCHES
SWITCH DESCRIPTION
4 mm Round NPN (Sink)
4 mm Round PNP (Source)
STYLE
1 - Imperial
5 - Metric
SEALS
1 - Buna-N
SPRING OPTIONS
0 - None
HEAVY FORCE
5 - Spring assist closed
6 - Spring assist open
KIT NUMBER
GRTx1x
GRTx2x GRTx3x GRTx4x GRTx5x GRTx6x GRTx7x GRTx8x
62805-00 62805-01 62805-02 62805-02 62805-02 62805-03 62805-04 62805-04
62806-00 62806-01 62806-01 62806-02 62806-03 62806-04 62806-05 62806-05
INTERNAL PROXIMITY SWITCH TARGET KITS
SENSOR OPTIONS
0 - None
5 - Proximity switch ready
(For internal switches)
IT
NE
PRO
D
E
D
KIT NUMBER
GRTx2x GRTx3x GRTx4x GRTx5x GRTx6x GRTx7x GRTx8x
61552-02 61552-03 61552-04 61552-05 61552-06 61552-07 61552-08
TO
M
O
GRTx1x
61552-01
EXTERNAL PROXIMITY SWITCH MOUNTING BRACKETS
Kit includes: 1 Proximity Target, 1 Proximity Adjustment Screw, 2 Target Adjustment Screws
DIRECTION
JAWS OPENING
JAWS CLOSING
JAW STYLE
2 - Standard travel
S
CT
U
!
DESIGN NO.
OPTIONS
0 - None
1 - Part Ejector
G R T 1 4 2 - 1 - 0 0 0 1
INTERNAL PROXIMITY SWITCHES
KIT NUMBER
IMPERIAL METRIC
62890-01 62890-11
62890-02 62890-12
62890-03 62890-13
62890-04 62890-14
62890-05 62890-15
62890-06 62890-16
62890-07 62890-17
62890-08 62890-18
GRIPPER SIZE
GRTx1, 2, 3,
4, & 5
MODEL
NUMBER
GRTx12
GRTx22
GRTx32
GRTx42
GRTx52
GRTx62
GRTx72
GRTx82
TYPE
T - Three jaw
CUS
T
www.phdinc.com/grt
FINGER BLANKS
PRODUCT TYPE
G - Gripper
TO ORDER, SPECIFY:
Product Type, Series, Type, Style,
Size, Jaw Style, Design No., Options,
and Seals.
BORE SIZE
1 - 27 mm
2 - 40 mm
3 - 50 mm
4 - 63 mm
5 - 80 mm
6 - 100 mm
7 - 125 mm
8 - 160 mm
6A
ORDERING DATA: SERIES GRT GRIPPERS
F
6A-52
SOLUTIONS FOR
BENEFITS & SPECIFICATIONS: SERIES GRT GRIPPERS
■
Three jaw design provides self-centering and maximum contact
between part and jaw tooling, making these grippers ideal for
high moment applications.
■
Very low profile to grip force and jaw travel ratios are ideal for
use in confined work areas.
■
Eight sizes are offered in both imperial and metric versions for
maximum application versatility.
■
Jaw motion is true parallel and synchronous for easy design of
jaw tooling.
■
Pneumatically powered units are double acting for use in both
internal and external applications.
■
Close tolerance jaw mechanism made of hardened steel
eliminates play and is enclosed for a minimum 10 million
■
Male and female keys are standard on jaws providing precision
positioning of jaw tooling.
■
Proximity switches are available for indications of jaw position.
■
Units are fully field repairable.
■
Optional spring assist can be specified to enhance maximum
gripping force or for part retention upon loss of air pressure.
■
Optional part ejector assists in part location upon grip release.
■
Finger blanks are available for custom fitting of fingers to the
part’s shape. See page 6A-63.
6A
Eight Bore
Sizes!
See page 6A-59 for spring assist option.
See page 6A-60
and 6A-61 for
sensor option.
Adjustable positioning target assembly protected
under U.S. Patent No. 6019409.
SPECIFICATIONS
WORKING PRESSURE
STANDARD UNIT
SPRING ASSIST UNIT
BODY
JAWS
SEALS
LUBRICATION
SERIES GRT
30 psi min. - 100 psi max.
[2 bar min. - 7 bar max.]
60 psi min. - 100 psi max.
[4 bar min. - 7 bar max.]
Hardcoated Aluminum
Hardened Steel
Bidirectional Piston Seals
Lip Type Rod Seal
See page 6A-62 for part ejector option.
6A-53
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grt
DIMENSIONS: SERIES GRT GRIPPERS
CUSTOMER
SUPPLIED
MANIFOLD
CLOSED
K7
SET SCREW
REMOVED
GRIPPER
2X K8 ± .0005 [H7]
P6
P9
Ø P8
Ø P7
P5
OPEN
MANIFOLD PORTING DIMENSIONS
2X ORIFICE DIA (MAY BE USED
FOR MANIFOLD PORTING,
SEE PAGE 6A-64)
FOR CUSTOMER USE
(DIMENSIONS REQUIRED
ON CUSTOMER MOUNTING SURFACE)
Ø B1
B3
B2
J4
J3
B4
J12
(J1)
J2 ± .0007 [H7]
J13
P3
B6 RADIUS
6A
P2
J1 ± .020 [0.5]
K6 BOLT CIRCLE
2X J5 THREAD
EACH JAW
OPEN
5
OPEN
6
J7
K5
P4
CLOSED
2X P1 PORT
WITH SPOTFACE
J6 ± .0010 [h7]
J8
CLOSED
B5
K3
JAW TRAVEL
+ .060/- .000
[+1.5/-0.0]
J9
J10
CL
J11
K4
3X THRU HOLE FOR K1 MOUNTING SCREW
K2 THREAD FROM OPPOSITE SIDE
NOTE: SPRING ASSIST OPTION AFFECTS UNIT DIMENSIONS. SEE PAGE 6A-59 FOR INFORMATION.
6A-54
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
SOLUTIONS FOR
CAT-03
P1
P2
P3
P4
P5
P6
P7
P8
P9
K3
K4
K5
K6
K7
K8
J6
J7
J8
J9
J10
J11
J12
J13
K1
K2
LETTER
DIM
JAW TRAVEL
B1
B2
B3
B4
B5
B6
J1 CLOSED
J2
J3
J4
J5
in
.118
1.850
1.004
.748
.057
.165
.165
.642
.0787
.039
1.061
4-40
x .157 DP
.3146
.561
.108
.295
.119
.533
.667
.177
#5
8-32
x .394 DP
.374
1.122
1.296
1.496
1.496
.1268
x .237 DP
10-32
.231
.492
39°
.484
.670
.276
.098
.048
mm
3.0
47.0
25.5
19.0
1.4
4.2
4.2
16.3
2.0
1.0
26.9
M3 x 0.5
x 4.0 DP
8.0
14.2
2.74
7.5
3.0
13.5
16.9
4.5
M3
M4 x 0.7
x 10 DP
9.50
28.50
32.92
38.0
38.0
3.0
x 6.0 DP
M5 x 0.8
5.9
12.5
39°
12.3
17.0
7.0
2.5
1.2
GRTx1x
GRTx2x
in
mm
.157
4.0
2.441
62.0
1.279
32.5
.905
23.0
.157
4.0
.207
5.3
1.496
38.0
.787
20.0
.1582
4.0
.079
2.0
1.436
36.5
8-32
M4 x 0.7
x .197 DP x 5.0 DP
.3927
10.0
.670
17.0
.138
3.5
.433
11.0
.157
4.0
.748
19.0
.905
23.0
.197
5.0
#8
M4
10-32
M5 x 0.8
x .375 DP x 9.5 DP
.527
13.39
1.580
40.13
1.824
46.33
2.106
53.5
2.106
53.5
.1580 x
4.0 x
.315 DP
8.0 DP
10-32
M5 x 0.8
.256
6.5
.669
17.0
26°
26°
.551
14.0
.984
25.0
.276
7.0
.098
2.5
.048
1.2
GRTx3x
in
mm
.236
6.0
2.835
72.0
1.575
40.0
1.103
28.0
.118
3.0
.197
5.0
2.244
57.0
.886
22.5
.1582
4.0
.079
2.0
1.694
43.0
8-32
M4 x 0.7
x .250 DP x 6.5 DP
.3927
10.0
.709
18.0
.157
4.0
.472
12.0
.177
4.5
.827
21.0
1.103
28.0
.276
7.0
#10
M5
1/4-20
M6 x 1.0
x .500 DP x 12.0 DP
.620
15.75
1.860
47.24
2.148
54.56
2.480
63.0
2.480
63.0
.1580 x
4.0 x
.315 DP
8.0 DP
10-32
M5 x 0.8
.295
7.5
.827
21.0
30°
30°
.630
16.0
1.181
30.0
.276
7.0
.098
2.5
.048
1.2
(800) 624-8511
www.phdinc.com/grt
6A
in
.315
3.543
1.870
1.279
.098
.295
2.244
1.024
.2369
.079
1.968
10-24
x .295 DP
.4714
.906
.177
.590
.197
.984
1.279
.354
1/4
5/16-18
x .625 DP
.778
2.333
2.693
3.110
3.110
.1973 x
.394 DP
10-32
.355
.946
30°
.768
1.437
.315
.138
.048
MODEL NUMBER
GRTx5x
in
mm
mm
.394
8.0
10.0
4.173
90.0
106.0
2.205
47.5
56.0
1.496
32.5
38.0
.157
2.5
4.0
.393
7.5
10.0
2.992
57.0
76.0
1.260
26.0
32.0
.2369
6.0
6.0
.098
2.0
2.5
2.362
50.0
60.0
1/4-20
M5 x 0.8
M6 x 1.0
x .400 DP x 10.0 DP
x 7.5 DP
.5502
12.0
14.0
1.063
23.0
27.0
.216
4.5
5.5
.669
15.0
17.0
.216
5.0
5.5
1.102
25.0
28.0
1.496
32.5
38.0
.433
9.0
11.0
1/4
M6
M6
5/16-18 M8 x 1.25
M8 x 1.25
x .625 DP x 16.0 DP
x 16.0 DP
.945
19.76
24.00
2.834
59.26
71.98
3.273
68.40
83.13
3.779
79.0
96.0
3.779
79.0
96.0
.1973 x
5.0 x
5.0 x
.394 DP
10.0 DP
10.0 DP
1/8 NPT
M5 x 0.8
1/8 BSP
.453
9.0
11.5
1.043
24.0
26.5
30°
30°
30°
.945
19.5
24.0
1.772
36.5
45.0
.315
8.0
8.0
.138
3.5
3.5
.048
1.2
1.2
GRTx4x
GRTx6x
in
mm
.512
13.0
5.275
134.0
2.559
65.0
1.732
44.0
.118
3.0
.492
12.5
3.996
101.5
1.476
37.5
.3157
8.0
.098
2.5
2.677
68.0
5/16-18
M8 x 1.25
x .410 DP x 10.5 DP
.6683
17.0
1.260
32.0
.275
7.0
.865
22.0
.276
7.0
1.418
36.0
1.732
44.0
.472
12.0
5/16
M8
3/8-16
M10 x 1.5
x .750 DP x 19.0 DP
1.181
30.00
3.543
89.99
4.091
103.91
4.724
120.0
4.724
120.0
.2367 x
6.0 x
.470 DP
12.0 DP
1/8 NPT
1/8 BSP
.472
12.0
1.299
33.0
30°
30°
1.181
30.0
2.205
56.0
.354
9.0
.177
4.5
.048
1.2
GRTx7x
in
mm
.630
16.0
6.339
161.0
2.992
76.0
1.968
50.0
.156
4.0
.708
18.0
5.000
127.0
1.831
46.5
.3157
8.0
.118
3.0
3.148
80.0
3/8-16
M10 x 1.5
x .563 DP x 14.0 DP
.7864
20.0
1.575
40.0
.335
8.5
.985
25.0
.334
8.5
1.653
42.0
1.968
50.0
.551
14.0
5/16
M8
M10 x 1.5
3/8-16
x .750 DP x 19.0 DP
36.75
1.447
110.24
4.340
127.30
5.012
147.0
5.787
147.0
5.787
6.0 x
.2367 x
12.0 DP
.470 DP
1/8 BSP
1/8 NPT
14.0
.551
38.0
1.496
30°
30°
37.0
1.457
69.0
2.717
9.0
.354
4.5
.177
1.2
.048
GRTx8x
mm
in
20.0
.787
202.0
7.953
90.5
3.563
58.5
2.303
5.0
.197
24.5
.966
133.5
5.256
56.0
2.206
10.0
.3944
4.0
.158
95.5
3.760
M12 x 1.75
1/2-13
x .750 DP x 19.0 DP
25.0
.9832
48.0
1.890
10.5
.413
31.0
1.220
10.5
.413
52.0
2.047
58.5
2.303
16.0
.630
M10
3/8
M12 x 1.75
1/2-13
x 1.00 DP x 25.5 DP
46.25
1.821
138.76
5.463
160.22
6.308
185.0
7.283
185.0
7.283
8.0 x
.3155 x
15.75 DP
.620 DP
1/8 BSP
1/8 NPT
17.0
.669
45.5
1.791
30°
30°
47.0
1.850
88.0
3.465
9.0
.354
4.5
.177
1.2
.048
DIMENSIONS: SERIES GRT GRIPPERS
6A-55
GRIP FORCE GRAPHS: SERIES GRT GRIPPERS
all three jaws. Total gripping force shown is in relation to tooling
length at 87 psi [6 bar] actuating pressure. Grip force per jaw
equals the total grip force divided by three.
Grip forces with springs are based on the average spring force.
Use the following charts to determine the grip force and
70
[311]
GRTx1x-1-xxxx
AIR ONLY OPE
N
AIR ONLY CLO
SED
40
[178]
30
[133]
20
[89]
GRTx2x-1-xxxx
200
[890]
50
[222]
HEAVY SPRING ONLY
10
[45]
AIR WITH HEAVY
SPRING OPEN
160
[712] AIR WITH HEAVY SPRING CLOSED
AIR ONLY OPEN
120
[534]
AIR ONLY CLOSED
80
[356]
40 HEAVY SPRING ONLY
[178]
0
0
0
0.25
[6]
0.5
[13]
0.75
[19]
1
[25]
1.25
[32]
0
1.5
[38]
0.2
[5]
0.4
[10]
0.6
[15]
300
[1335]
350
[1557] AIR WITH HEAVY
GRTx3x-1-xxxx
1
[25]
1.2
[30]
1.4
[36]
1.6
[41]
1.8
[46]
2
[51]
GRTx4x-1-xxxx
SPRING OPEN
250 AIR WITH HEAVY
[1112] SPRING OPEN
200 AIR WITH HEAVY SPRING CLOSED
[890] AIR ONLY OPEN
150 AIR ONLY CLOSED
[667]
100
[445]
[222]
0
300
SPRING CLOSED
250 AIR ONLY OPEN
[1112]
200 AIR ONLY CLOSED
[890]
150
[667]
100
[445] HEAVY SPRING ONLY
50
[222]
0
0
0.5
[13]
1
[25]
1.5
[38]
2
[51]
0
2.5
[64]
0.5
[13]
1
[25]
6A
2
[51]
2.5
[64]
3
[76]
GRTx6x-1-xxxx
1000
SPRING OPEN
AIR WITH HEAVY
SPRING OPEN
600
[2669]
1.5
[38]
GRTx5x-1-xxxx
700
[3114]
0.8
[20]
WITH HEAVY
500 AIR
SPRING CLOSED
[2224]
400 AIR ONLY OPEN
[1779]
AIR ONLY CLOSED
300
[1335]
200
[890] HEAVY SPRING ONLY
100
[445]
0
800 AIR WITH HEAVY
[3559] SPRING CLOSED
AIR ONLY OPEN
600
[2669] AIR ONLY CLOSED
400
[1779]
HEAVY SPRING ONLY
200
[890]
0
0
0.5
[13]
1
[25]
1.5
[38]
2
[51]
2.5
[64]
3
[76]
3.5
[89]
0
4
[102]
0.5
[13]
1
[25]
1.5
[38]
1400 AIR WITH HEAVY
[6228] SPRING OPEN
GRTx7x-1-xxxx
2.5
[64]
3
[76]
3.5
[89]
4
[102]
4.5
[114]
5
[127]
GRTx8x-1-xxxx
AIR WITH HEAVY
2000 SPRING OPEN
[8897]
1200 AIR WITH HEAVY
[5338] SPRING CLOSED
1000 AIR ONLY OPEN
[4448]
AIR ONLY CLOSED
800
[3559]
2
[51]
TOOLING
LENGTH
PART
CLOSE
AIR WITH
HEAVY SP
RING OPEN
AIR WITH HE
AVY SPRING
CLOSED
60
[267]
maximum tooling length for each gripper.
If gripping on open (internal grip) and
tooling length falls into the shaded area,
use a larger gripper or consult PHD for
expected life.
If gripping on close (external grip),
OPEN
disregard shaded area.
600
[2669]
[1779]
200
[890]
0
AIR WITH HEAVY
SPRING CLOSED
1600
[7117] AIR ONLY OPEN
AIR ONLY CLOSED
1200
[5338]
800
[3559]
HEAVY SPRING ONLY
400
[1779]
0
0
0.5
[13]
1
[25]
1.5
[38]
2
[51]
2.5
[64]
3
[76]
3.5
4
4.5
5
5.5
6
[89] [102] [114] [127] [140] [152]
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
7
[178]
8
[203]
6A-56
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRT GRIPPERS
SPECIFICATIONS
CLOSE OR
TOTAL CLOSE
TOTAL
GRIP FORCE FACTOR (GF)
INTERNAL
OPEN TIME
EXTERNAL
DIAMETRAL GRIP FORCE AT GRIPPER
GRIP
87 psi [6 bar] DISPLACEMENT
GRIP
MODEL JAW TRAVEL 87 psi [6 bar] WEIGHT
mm
in
N
lb
kg
lb
in3
sec.
cm3
NO.
0.236 6
196
44
0.27 0.12
33
37
.09
0.52
0.57
0.10 1.6
GRTx1x
0.315 8
112 499
0.59 0.27
83
93
.03
1.29
1.43
0.30
5
GRTx2x
0.472 12
168 747
0.95 0.43
125
136
.04
1.93
2.10
0.72
12
GRTx3x
0.630 16
218 971
1.75 0.80
162
173
.06
2.51
2.68
1.41
23
GRTx4x
0.787 20
378 1683
2.82 1.28
281
297
.07
4.35
4.61
3.00
49
GRTx5x
1.024 26
569 2531
5.1 2.32
422
451
.15
6.54
6.99
5.63
92
GRTx6x
1.260 32
880 3912
8.75 3.98
652
688
.30
10.11
10.67
10.75 176
GRTx7x
1.575 40
1452 6459
15.5 7.05
1077
1131
.40
16.69
17.52
21.92 359
GRTx8x
Minimum Operating Pressure is 30 psi [2 bar] for standard unit and 60 psi [4 bar] for spring assist unit.
HEAVY SPRING
MODEL
NO.
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
SF
SPRING GRIP FORCE
MINIMUM
MAXIMUM
lb
9
14
28
49
118
193
263
324
N
40
62
125
218
525
858
1170
1441
lb
18
52
82
110
232
341
498
591
N
80
231
365
498
1032
1517
2215
2629
WEIGHT
ADDER
kg
lb
0.03
0.07
0.07
0.15
0.10
0.23
0.18
0.40
0.50
1.10
0.86
1.89
1.08
2.37
2.31
5.10
CLOSE OR OPEN TIME
87 psi [6 bar] IN sec
with against spring
only
spring spring
.14
.08
.14
.04
.02
.05
.10
.04
.10
.10
.05
.12
.12
.08
.16
.15
.11
.21
.24
.15
.36
.40
.27
.48
MODEL
NO.
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
TOOLING
LENGTH
MAXIMUM
mm
in
40
1.5
50
1.97
65
2.56
75
2.95
100
3.94
125
4.92
150
5.91
200
7.87
TOOLING
WEIGHT
MAX. PER JAW
kg
lb
0.17 0.08
0.30 0.14
0.72 0.33
1.25 0.57
2.65 1.20
4.50 2.05
8.80 4.00
16.00 7.27
SEALS AND FLUIDS
LUBRICATION
Buna-N seals are standard on all Series GRT Grippers. Piston seals
are long life Buna-N and rod seals are lip type or O-rings. Both are
pneumatic cylinders. For compatibility with other fluids, consult PHD.
Seals and gripper mechanism are lubricated at the factory for
service under normal operating conditions.
6A
Spring grip force (SF) varies with spring compression. The minimum spring grip force values occur with the spring at least compression (jaws fully
closed on spring close units and fully open on spring open units). The maximum spring grip force values occur with the spring at most compression (jaws
fully open on spring close units and fully closed on spring open units).
MATERIAL
TEMPERATURE LIMITS
Gripper body and piston are made of hardcoated aluminum. Jaws
and operating mechanism are manufactured from hardened steel.
Seals and gripper mechanism are designed for use in ambient
SPECIAL GRIPPERS
LIFE EXPECTANCY
All standard units with Buna-N seals have been designed for a
minimum of 10 million trouble free cycles, with minimal seal wear and
backlash.
REPEATABILITY
centered position.
INTERNAL SPRINGS
BACKLASH
Internal springs are intended to assist the gripper and add to grip
force in one specific direction. They can be used to open or close the
gripper without pneumatic pressure or to maintain spring grip force if
pressure is lost. Spring life in excess of 1.5 million cycles can be
expected.
Jaw backlash in the (A) direction will not
exceed .010 in [0.24 mm] per jaw.
Total clearance between the
parallel jaws and the body will not
exceed the following figures:
(B) .003 in [0.075 mm]
(C) .0027 in [0.068 mm]
PART EJECTOR SPRINGS
Spring life in excess of 5 million cycles can be expected for the
part ejector springs.
B
A
C
6A-57
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grt
ENGINEERING DATA: SERIES GRT GRIPPERS
CHART A
1.0
0.9
0.8
DISTANCE FROM
BODY SURFACE
0.7
GRTx8x
GRTx7x
GRTx6x
0.4
GRTx5x
0.5
GRTx3x
GRTx4x
0.6
GRTx1x
GRTx2x
DERATING FACTOR
Tooling should be designed so that the grip
point is as close to the body surface as possible.
When the grip point moves away, jaw friction
increases, which decreases grip force. The GF
information given on the preceding page is for zero
tooling length (body surface). The chart shows
how force decreases as the grip point moves away
from the body surface. The derating figures and
maximum tooling lengths are included in the
graphs on page 6A-56.
0.3
0.2
0.1
0
PART
0
1
[25]
2
[51]
3
[76]
4
[102]
5
[127]
6
[152]
7
[178]
8
[203]
Fa
MODEL NO.
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
lb
49
141
337
419
528
562
652
731
N
218
625
1500
1865
2350
2500
2900
3250
OPEN Mx*
in-lb Nm
4.5
40
6
52
9
76
127 14
275 31
587 66
1190 134
2486 281
CLOSE Mx
in-lb Nm
116 13
221 25
265 30
398 45
796 90
1282 145
2387 270
5083 574
My
in-lb Nm
4.6
41
133 15
221 25
309 35
398 45
707 80
884 100
1591 180
Mz
in-lb Nm
5
44
133 15
133 15
221 25
486 55
575 65
1105 125
2077 235
Mx
Fa
Fa:
Mx:
My:
Mz:
6A
Total for all jaws
Per jaw, with moments from body surface
Per jaw, with moments from center of jaw
Per jaw, with moments from body surface, tooling
keyed to jaw
When calculating values for Mx, My, and Mz, include the
grip force, part weight, acceleration, and external forces.
When calculating the value for Fa, include weight of
tooling, part weight, acceleration, and external forces.
BODY
SURFACE
Mz
My
*Maximum Open Mx values based on 10 million cycle
life and assume part is gripped with jaws in full open
position. Gripping part with jaws at less than full open
position will increase allowable Open Mx.
WITHOUT SPRINGS: TOTAL FORCE lb [N] = (Pressure psi [bar] x GF) x Tooling Length Factor
SPRINGS WORKING
WITH APPLIED PRESSURE: TOTAL FORCE lb [N] = [(Pressure psi [bar] x GF) + SF lb [N]] x Tooling Length Factor
AGAINST APPLIED PRESSURE: TOTAL FORCE lb [N] = [(Pressure psi [bar] x GF) - SF lb [N]] x Tooling Length Factor
GRT152-1-0001, [GRT552-1-0001]
Operating Pressure = 87 psi , [6 bar]
Find Grip Force Factor GF = 4.35, [281] (from Specifications, page 6A-57)
Find Tooling Length Factor = .85, [.85] (See Chart A)
(Tooling Length of 3.75 in ⇒ .85, [95 mm] Tooling Length Factor)
Total Grip Force 4.35 x 87 psi x .85 = 322 lb, [281 x 6 x .85 = 1433 N]
GRT152-1-0051, [GRT552-1-0051]
Spring assist close, heavy springs
Find Spring Grip Force SF = 175 lb, [779 N] (Average spring force, page 6A-57)
175 = (118 + 232)/2, [779 = (525 + 1032)/2]
Total Grip Force (4.35 x 87 psi + 175 lb) x .85 = 470 lb, [(281 x 6 + 779) x .85 = 2095 N]
BODY
SURFACE
3.75 in
PART
(external grip)
6A-58
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
OPTIONS & ACCESSORIES: SERIES GRT GRIPPERS
5&6
HEAVY FORCE SPRING ASSIST
GRIPPER
Springs can maintain spring grip force if air pressure is lost or
increase grip force in one specific direction when used with air
pressure. Spring life in excess of 1.5 million cycles can be expected.
For minimum operating pressures and spring grip forces, see
specifications on page 6A-57.
P6
C3
CLEARANCE Ø
IN CAP
3X K9 THREAD
2X Ø K10
SEE DETAIL B
3X K9 DEPTH
K9 MOUNTING DIMENSIONS
DETAIL A
CLOSED
K5
P5
K7
OPEN
C3
GRIPPER
2X ORIFICE DIA MAY
BE USED FOR MANIFOLD
PORTING, SEE PAGE 64 .
CLEARANCE Ø
IN CAP
2X Ø K10
K3
3X Ø K9
SEE DETAIL A
K4
2X K10 DEPTH
K10 MOUNTING PIN DIMENSIONS
DETAIL B
Ø B1
Ø B9
(PILOT LOCATOR)
C4
CUSTOMER
SUPPLIED
MANIFOLD
Ø P7
C3
P9
SET SCREW REMOVED
Ø P8
C2
B2
C1
GRIPPER
6A
FOR CUSTOMER USE
LETTER
DIM
Ø B1
B2
Ø B9 MAX
Ø B9 MIN
C1
C2
C3
C4
K3
K4
K5
K7
K9
K10
P5
P6
Ø P7
Ø P8
P9
GRTx1x
in
mm
1.850
47.0
1.004
25.5
1.0650
27.1
1.0610
26.9
1.240
31.5
1.358
34.5
.236
6.0
.118
3.0
.374
9.5
1.122
28.5
1.296
32.9
1.496
38.0
8-32
M4 x 0.7
x .394 DP x .394 DP
0.1268
3.0
x .315 DP x .315 DP
.484
12.3
.670
17.0
.276
7.0
.098
2.5
.048
1.2
GRTx2x
in
mm
2.441
62.0
1.279
32.5
1.6535
42.00
1.6490
41.89
1.515
38.5
1.732
44.0
.236
6.0
.217
6.0
.527
13.39
1.580
40.13
1.824
46.33
2.106
53.5
10-32
M5 x 0.8
x .611 DP x 16.0 DP
.1580
4.0
x .551 DP x 14.0 DP
.551
14.0
.984
25.0
.276
7.0
.098
2.5
.048
1.2
GRTx3x
in
mm
2.835
72.0
1.575
40.0
2.0079
51.00
2.0034
50.89
1.811
46.0
2.106
54.0
.236
6.0
.295
8.0
.620
15.75
1.860
47.24
2.148
54.56
2.480
63.0
1/4-20
M6 x 1.0
x .736 DP x 19.0 DP
.1580
4.0
x .551 DP x 14.0 DP
.630
16.0
1.181
30.0
.276
7.0
.098
2.5
.048
1.2
MODEL NUMBER
GRTx5x
mm
in
mm
90.0
4.173
106.0
47.5
2.205
56.0
65.00
3.2283
82.00
64.83
3.2218
81.83
54.5
2.559
65.0
62.0
2.992
76.0
7.0
.354
9.0
8.0
.433
11.0
19.76
.945
24.0
59.26
2.834
71.98
68.40
3.273
83.13
79.0
3.779
96.0
M8 x 1.25
5/16-18 M8 x 1.25
x 23.0 DP
x .979 DP x 25.0 DP
5.0
.1973
5.0
x 26.0 DP
x .748 DP x 19.0 DP
19.5
.945
24.0
36.5
1.772
45.0
8.0
.315
8.0
3.5
.138
3.5
1.2
.048
1.2
GRTx4x
in
3.543
1.870
2.5591
2.5526
2.146
2.442
.276
.296
.778
2.333
2.693
3.110
5/16-18
x .901 DP
.1973
x .670 DP
.768
1.437
.315
.138
.048
GRTx6x
in
mm
134.0
5.275
65.0
2.559
4.0157
102.00
4.0092
101.83
2.913
74.0
90.0
3.524
.354
9.0
.611
16.0
1.181
30.0
89.99
3.543
4.091
103.91
4.724
120.0
M10 x 1.5
3/8-16
x 1.104 DP x 28.0 DP
.2367
6.0
x .824 DP x 21.0 DP
1.181
30.0
56.0
2.205
.354
9.0
.177
4.5
.048
1.2
GRTx7x
in
mm
6.339
161.0
76.0
2.992
128.00
5.0394
5.0329
127.83
3.425
87.0
106.0
4.173
11.0
.433
.748
19.0
1.447
36.75
110.24
4.340
127.30
5.012
5.787
147.0
3/8-16
M10 x 1.5
x 1.183 DP x 30.0 DP
6.0
.2367
X .903 DP x 23.0 DP
1.457
37.0
69.0
2.717
.354
9.0
.177
4.5
.048
1.2
GRTx8x
mm
in
202.0
7.953
3.563
90.5
6.2992
160.00
6.2927
159.83
4.075
103.5
5.059
128.5
13.0
.512
.984
25.0
46.25
1.821
5.463
138.76
6.308
160.22
7.283
185.0
M12 x 1.75
1/2-13
x 1.512 DP x 38.0 DP
.3155
10.0
x 1.132 DP x 29.0 DP
47.0
1.850
3.465
88.0
.354
9.0
.177
4.5
1.2
.048
6A-59
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grt
5
PROXIMITY SWITCH READYINTERNAL
This option equips the gripper with sleeves to provide for the
mounting of up to three round proximity switches. Target Kits and
Proximity Switches are ordered separately. See Switches and
LETTER
DIM
PS1
PS2
PS3
PS4
PS5
PS6
PS7
PS9
PS10
PS11
GRTx1x
mm
in
4mm ROUND
.5
.020
.388 9.86
.775 19.69
1.342 34.09
1.21 30.7
1.21 30.7
.555 14.1
.75
.030
4.0
.157
GRTx2x
mm
in
4mm ROUND
.5
.020
.527 13.37
1.053 26.75
1.824 46.33
1.42 36.0
1.42 36.0
.773 19.6
.75
.030
4.0
.157
GRTx3x
mm
in
4mm ROUND
.5
.020
.620 15.75
1.240 31.5
2.148 54.55
1.22 31.0
1.22 31.0
.971 24.7
.75
.030
4.0
.157
GRTx4x
mm
in
4mm ROUND
.5
.020
.778 19.75
1.555 39.5
2.693 68.41
1.18 30.0
1.04 26.5
1.147 29.1
.75
.030
4.0
.157
Sensors section for complete switch specifications. The
adjustable positioning target assembly is protected under U.S.
patent no. 6019409.
MODEL NUMBER
GRTx5x
GRTx6x
GRTx7x
GRTx8x
mm
in
mm
in
mm
mm
in
in
4mm ROUND 8mm THREADED 8mm THREADED 8mm THREADED
.76
.030
.76
.030
.76
.5
.020
.030
1.821 46.25
1.447 36.75
.945 24.0
1.181 30.0
3.642 92.5
2.894 73.5
1.890 48.0
2.362 60.0
6.307 160.20
5.012 127.30
3.273 83.13
4.091 103.91
30.0
1.18
29.0
1.14
35.0
1.18 30.0
1.38
20.5
.81
29.0
1.14
35.0
21.0
.83
1.38
2.095 53.2
1.760 44.7
1.364 34.6
1.524 38.7
.404 10.25
7.0
.276
4.25
1.5
.060
.167
8.0
.315
8.0
.315
8.0
4.0
.157
.315
NOTES: 1) (PS10) THE PROX TARGET MAY EXTEND OUT OF THE JAW WHEN THE JAWS CLOSE. TARGET
IS ADJUSTED TO SENSE LESS THAN .039 [1mm] MOVEMENT FROM THE FULL CLOSED POSITION
2) JAWS SHOWN IN FULL OPEN POSITION
PS5
TARGET KIT NUMBER
SENSING
GRTx1x GRTx2x GRTx3x GRTx4x GRTx5x GRTx6x GRTx7x GRTx8x
DIRECTION
JAWS OPENING 62805-00 62805-01 62805-02 62805-02 62805-02 62805-03 62805-04 62805-04
JAWS CLOSING 62806-00 62806-01 62806-01 62806-02 62806-03 62806-04 62806-05 62806-05
EACH KIT WILL MOUNT ONE SWITCH.
KIT INCLUDES: 1 PROXIMITY TARGET, 1 PROXIMITY ADJUSTMENT SCREW,
2 TARGET ADJUSTMENT SCREWS
PS2 MAX
SENSING DISTANCE
PS3
5/64 [2mm]
TARGET ADJUSTMENT
HEX
PS4
6A
PS11 MAX
TARGET WIDTH
Ø PS1
(PROX SWITCH)
LOCATION OF PROXIMITY
SWITCHES
DETAIL A
PS10 MAX
4 mm ROUND INDUCTIVE PROXIMITY SWITCHES
DESCRIPTION
PART NUMBER
A
PS9
8 mm THREADED INDUCTIVE PROXIMITY SWITCHES
PART NUMBER
51422-005-02
51422-006-02
DESCRIPTION
NPN (Sink) 5-30 VDC, 2 meter cable
PNP (Source) 5-30 VDC, 2 meter cable
Ø PS1
(PROX SWITCH)
PS7
APPROX LED LOCATION 4mm PROX
1.18 [30mm]
MIN BEND RADIUS
PS6
APPROX LED LOCATION 8mm PROX
6A-60
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
PROXIMITY SWITCHES - EXTERNAL
This accessory provides for the external mounting of round
metal sensing proximity switches. Up to six switches may be
mounted using multiple brackets. The user is required to design and
MODEL NUMBER
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
GRTx1x
mm
in
mm
in
mm
mm
in
mm
in
mm
in
in
mm
in
mm
in
8mm THREADED 8mm THREADED 8mm THREADED 8mm THREADED 8mm THREADED 12mm THREADED 12mm THREADED 12mm THREADED
2.362 60.0
2.362 60.0
1.772 45.0
1.772 45.0
1.772 45.0
2.362 60.0
1.772 45.0
1.772 45.0
4.0
.157
4.0
.157
4.0
4.0
.157
4.0
.157
4.0
.157
.157
4.0
.157
4.0
.157
17.0
.669
17.0
.669
17.0
13.0
.512
13.0
.512
13.0
.512
.669
13.0
.512
13.0
.512
2.303 58.5
1.968 50.0
1.496 38.0
1.279 32.5
1.103 28.0
1.732 44.0
23.0
.905
19.0
.748
3.977 101.0
3.170 80.5
2.087 53.0
1.772 45.0
1.418 36.0
2.638 67.0
1.221 31.0
23.5
.925
13.1
.515
12.5
.492
13.0
.443 11.25
.403 10.25
10.6
.419
.512
10.5
.413
9.6
.377
23.8
.938
.915 23.25
19.5
.768
18.5
.728
18.9
.744
.935 23.75
.738 18.75
17.8
.702
2.7
.105
2.7
.105
2.7
2.7
.105
2.7
.105
2.7
.105
.105
2.7
.105
1.5
.060
1.944 49.4
1.522 38.7
1.077 27.4
25.0
.983
20.8
.817
1.433 36.4
17.6
.693
12.3
.483
1.723 43.8
1.401 35.6
24.6
.968
21.2
.836
17.5
.688
1.207 30.7
17.5
.689
16.5
.648
22.5° 22.5°
22.5° 22.5
22.5° 22.5°
22.5° 22.5°
22.0° 22.0°
22.5° 22.5°
25°
25°
30°
30°
MOUNTING BRACKETS
PART NUMBER BRACKET NUMBER
61552-01
GRTx12
61552-02
GRTx22
61552-03
GRTx32
61552-04
GRTx42
61552-05
GRTx52
61552-06
GRTx62
61552-07
GRTx72
61552-08
GRTx82
EP1 PROXIMITY
SWITCH (ORDERED
SEPARATELY)
EP6
EP10
JAWS CLOSED
EP11
DESCRIPTION
PART NUMBER
EP7
EP4 HEX
EP8
EP2
2X EP3
EP9
EP5
EP12
6A
LETTER
DIM
EP1
EP2
EP3
EP4
EP5
EP6
EP7
EP8
EP9
EP10
EP11
EP12
mount targets for the switch to sense. Proximity Switches are
ordered separately. See Switches and Sensors section for complete
switch specifications.
DESCRIPTION
PART NUMBER
NPN (Sink) 10-30 VDC, 3 meter cable
15561-001
PNP (Source) 10-30 VDC, 3 meter cable
15561-002
AC 20-250 VAC, 3 meter cable
15561-003
SOLUTIONS FOR
6A-61
(800) 624-8511
CAT-03
www.phdinc.com/grt
1
PART EJECTOR
MODEL
NO.
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
This option equips the gripper with a spring actuated part
ejector. When grip force is removed, the part ejector can push the
part against a positive stop. This allows accurate part location and
isolates forces due to location within the gripper mechanism,
protecting the rest of the automation device. Spring life in excess of
5 million cycles can be expected.
PART EJECTOR
TOTAL SPRING FORCE
N
lb
13 - 22
3-5
20 - 37
4.5 - 8.4
33 - 51
7.5 - 11
51 - 80
11 -18
88 - 124
20 - 28
27 - 38 121 - 167
35 - 56 157 - 248
74 - 96 330 - 427
3X Ø EJ8 (MAXIMUM FASTENER SIZE
WHEN USED WITH CUSTOMER
MODIFIED PART EJECTOR PLATE)
PHD SUPPLIED SPOTDRILL FOR
EASY CUSTOMER MODIFICATION
EJ14 MAX
EJ13 MAX
EJ10 MAX
EJ9 MAX
B2
Ø EJ1 MAX
OPTIONAL
SPRING
ASSIST
Ø EJ2 MOUNTING
HOLE PATTERN
EJ7
EJ6
Ø EJ3 MIN
OPTIONAL SPRING ASSIST
EJ5
PART EJECTOR
SPRINGS OMITTED
FOR CLARITY
EJ12 MAX
MATERIAL THICKNESS
EJ4
EJ11 MIN TRAVEL
PART EJECTOR EXTENDED
6A
PART EJECTOR COMPRESSED
LETTER
DIM
B2
Ø EJ1
Ø EJ2
Ø EJ3
EJ4
EJ5
EJ6
EJ7
Ø EJ8
EJ9
EJ10
EJ11
EJ12
EJ13
EJ14
GRTx1x
in
1.004
2.330
N/A
.700
N/A
N/A
N/A
N/A
N/A
1.126
1.362
.062
.062
1.061
1.297
mm
25.5
59.2
N/A
17.8
N/A
N/A
N/A
N/A
N/A
28.6
34.6
1.6
1.6
26.9
32.9
6A-62
GRTx2x
in
mm
1.279
32.5
3.239
82.0
1.318
33.5
.766
19.5
.330
8.0
.659
17.0
.571
14.0
.571
14.0
#2
M2
1.552
39.4
1.788
45.4
.121
3.0
.113
2.9
1.404
35.7
1.533
38.9
GRTx3x
in
mm
1.575
40.0
3.633
92.0
1.510
38.4
.872
22.1
.378
10.0
.755
19.0
.654
17.0
.654
17.0
#6
M3
1.966
49.9
2.202
56.0
.239
6.0
.113
2.9
1.700
43.2
1.829
46.4
GRTx4x
mm
in
1.870
47.5
4.312
110.0
1.892
48.0
25.9
1.022
.473
12.0
.946
24.0
.819
21.0
.819
21.0
M4
#8
2.275
57.8
2.551
64.8
.239
6.0
3.3
.128
2.010
51.1
2.164
55.0
MODEL NUMBER
GRTx5x
in
mm
2.205
56.0
4.940
125.0
2.264
57.5
1.376
34.9
.566
14.0
1.132
29.0
.980
25.0
.980
25.0
#10
M5
2.614
66.4
2.960
75.2
.239
6.0
1.28
3.3
2.345
59.6
2.577
65.4
GRTx6x
in
mm
65.0
2.559
155.0
6.083
2.784
70.7
1.572
39.9
.696
18.0
1.392
35.0
31.0
1.206
1.206
31.0
5/16
M8
3.061
77.7
3.415
86.7
.318
8.0
.143
3.7
68.9
2.714
2.931
74.4
GRTx7x
in
mm
2.992
76.0
7.384
188.0
83.7
3.296
1.924
48.8
.824
21.0
1.648
42.0
1.427
36.0
36.0
1.427
3/8
M10
90.7
3.572
4.006
101.8
.396
10.1
.143
3.7
3.147
79.9
87.4
3.443
GRTx8x
in
mm
3.563
90.5
8.983
228.0
4.014
102.0
62.4
2.458
1.004
26.0
2.007
51.0
1.738
44.0
1.738
44.0
M12
1/2
4.221
107.2
120.3
4.734
.474
12.1
.143
3.7
3.718
94.4
4.093
103.9
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
FINGER BLANKS
This accessory provides jaw tooling blanks which can easily be
machined to meet specific application requirements. Each aluminum
blank has key geometry to precisely mate and align with the Series
GRT Gripper jaw. One finger blank is supplied per kit.
F1
F2
F6
F7
F10
Ø F9 MIN
F5
F3
F4
2X THRU AND C’BORED
FOR F8 SHCS
PART
F11
MAX TOOLING LENGTH
CUTOUT REQUIRED
FOR USE WITH
PART EJECTOR OPTION
LETTER
DIM
F1
F2
F3
F4
F5
F6
F7
F8
SHCS
F9
F10
F11
F12
MODEL
NUMBER
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
GRTx1x
in
mm
1.632
41.5
.500
12.70
.980
24.9
.096
2.4
.375
9.5
.3156
8.0
.0777
2.0
4-40
M3 x 0.5
x 5/8
x 16.0
.065
1.65
.541
13.7
.280
7.1
.110
2.8
TOOLING LENGTH
in
mm
1.495
38
1.97
50
2.56
65
2.95
75
3.94
100
4.92
125
5.91
150
7.87
200
GRTx2x
in
mm
2.165
55.0
.625
15.88
1.260
32.0
.196
5.0
.531
13.5
.3938
10.0
.1570
4.0
8-32
M4 x 0.7
x 1/2
x 12.0
.065
1.65
.490
12.4
.278
7.0
.171
4.3
GRTx3x
in
mm
2.756
70.0
.625
15.88
1.380
35.1
.157
4.0
.551
14.0
.3938
10.0
.1570
4.0
8-32
M4 x 0.7
x 5/8
x 16.0
.065
1.65
.523
13.3
.319
8.1
.328
8.3
WEIGHT PER
FINGER BLANK
kg
lb
.027
.059
.05
.12
.08
.17
.13
.29
.29
.63
.57
1.25
.95
2.06
1.75
3.85
MODEL NUMBER
GRTx4x
GRTx5x
mm
mm
in
in
110.0
80.0
3.150
4.331
25.40
19.05
.750
1.000
49.2
41.5
1.633
1.938
5.0
3.5
.137
.196
19.0
17.25
.679
.748
14.0
.4725
12.0
.5513
6.0
6.0
.2356
.2357
10-24 M5 x 0.8
1/4-20 M6 x 1.0
x 20.0
x 16.0
x 5/8
x 3/4
2.3
.091
2.30
.091
14.6
11.1
.438
.576
10.6
9.9
.388
.416
7.6
9.2
.362
.299
MODEL
NUMBER
GRTx1x
GRTx2x
GRTx3x
GRTx4x
GRTx5x
GRTx6x
GRTx7x
GRTx8x
GRTx6x
in
mm
5.315
135.0
1.250
31.75
2.407
61.1
.157
4.0
1.023
26.0
.6694
17.0
.3145
8.0
5/16-18 M8 x 1.25
x1
x 25.0
.133
3.35
.694
17.6
.535
13.6
.439
11.2
GRTx7x
in
mm
6.299
160.0
1.500
38.10
2.900
73.7
.196
5.0
1.161
29.5
.7875
20.0
.3145
8.0
3/8-16 M10 x 1.5
x1
x 25.0
.133
3.35
.623
15.8
.691
17.6
.480
12.2
GRTx8x
mm
in
215.0
8.465
44.45
1.750
3.442
87.4
.236
6.0
1.339
34.0
.9850
25.0
.3932
10.0
1/2-13 M12 x 1.75
x 1-1/2
x 40.0
.157
3.90
1.048
26.6
20.5
.809
.517
13.1
KIT NUMBER*
METRIC
IMPERIAL
62890-11
62890-01
62890-12
62890-02
62890-13
62890-03
62890-14
62890-04
62890-15
62890-05
62890-16
62890-06
62890-17
62890-07
62890-18
62890-08
* ONE FINGER BLANK IS SUPPLIED PER KIT.
(THREE KITS REQUIRED TO EQUIP EACH GRIPPER).
6A-63
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grt
6A
F12
MANIFOLD SEAL KIT
All Series GRT grippers have manifold porting as standard.
Port plugs must first be removed when using this feature.
See page 6A-54 for dimensions.
MANIFOLD O-RING
PORT
(TO BE PLUGGED WHEN
USING MANIFOLD PORTS)
CLOSED
OPEN
MANIFOLD PORTS
(SHIPPED PLUGGED
FROM FACTORY)
MANIFOLD KIT INCLUDES
2 PORT PLUGS
2 MANIFOLD O-RING SEALS
MODEL NUMBER
GRT152 GRT552 GRT162 GRT562 GRT172 GRT572 GRT182 GRT582
KIT NUMBER:
61553-01-1 61553-05-1 61553-01-1 61553-05-1 61553-01-1 61553-05-1 61553-02-1 61553-06-1 61553-03-1 61553-07-1 61553-04-1 61553-08-1 61553-04-1 61553-08-1 61553-04-1 61553-08-1
(STD SEALS)
(FLUORO-ELASTOMER SEALS) 61553-01-2 61553-05-2 61553-01-2 61553-05-2 61553-01-2 61553-05-2 61553-02-2 61553-06-2 61553-03-2 61553-07-2 61553-04-2 61553-08-2 61553-04-2 61553-08-2 61553-04-2 61553-08-2
6.0 ID x
.236 ID x
6.0 ID x
.236 ID x
6.0 ID x
.236 ID x
5.0 ID x
.197 ID x
5.0 ID x
.197 ID x
.157 ID x
4.0 ID x
4.0 ID x
.157 ID x
4.0 ID x
.157 ID x
O-RING SIZE
1.5 CS
.059 CS
1.5 CS
.059 CS
1.5 CS
.059 CS
1.5 CS
.059 CS
1.5 CS
.059 CS
.059 CS
1.5 CS
1.5 CS
.059 CS
1.5 CS
.059 CS
GRT112
GRT512
GRT122
GRT522
GRT132
GRT532
GRT142
GRT542
GRIPPER MOUNTING KIT
Gripper mounting kits are available. The kit includes three
socket head cap screws. Part ejector option does not affect
mounting kits listed below.
6A
STANDARD
UNIT
KIT NUMBER
FASTENER
(SHCS)
MODEL NUMBER
GRT112
61620-01
5-40 x
1-1/4
GRT512
62813-01
M3 x 0.5
x 25
GRT122
61620-02
8-32 x
1-1/4
GRT522
62813-02
M4 x 0.7
x 30
GRT132
61620-03
10-24 x
1-1/2
GRT532
62813-03
M5 x 0.8
x 40
GRT142
61620-04
1/4-20 x
1-3/4
GRT542
62813-04
M6 x 1.0
x 45
SPRING ASSIST
UNIT
GRT112
64128-01
KIT NUMBER
6-32 x
FASTENER
1-1/4
(SHCS)
GRT512
64129-01
M3 x 0.5
x 30
GRT122
64128-02
8-32 x
1-1/2
GRT522
64129-02
M4 x 0.7
x 35
GRT132
64128-03
10-24 x
1-3/4
GRT532
64129-03
M5 x 0.8
x 45
GRT142
64128-04
1/4-20
x2
GRT542
64129-04
M6 x 1.0
x 50
GRT152
61620-05
1/4-20 x
2
GRT552
62813-05
M6 x 1.0
x 50
GRT162
61620-06
5/16-18
x 2-1/4
GRT562
62813-06
M8 x 1.25
x 50
GRT172
61620-07
5/16-18 x
2-1/2
GRT572
62813-07
M8 x 1.25
x 65
GRT182
61620-08
3/8-16 x
3
GRT582
62813-08
M10 x 1.5
x 80
GRT552
64129-05
M6 x 1.0
x 60
GRT162
64128-06
5/16-18
x 2-3/4
GRT562
64129-06
M8 x 1.25
x 62
GRT172
64128-07
5/16-18
x3
GRT572
64129-07
M8 x 1.25
x 75
GRT182
64128-08
3/8-16
x 3-1/2
GRT582
64129-08
M10 x 1.5
x 90
MODEL NUMBER
GRT152
64128-05
1/4-20
x 2-1/2
6A-64
(800) 624-8511
www.phdinc.com/grt
CAT-03
SOLUTIONS FOR
6A
NOTES
6A-65
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grt
www.phdinc.com/grs
(800) 624-8511
CAT-03
GRIP
High Force
TYPE
Short Parallel
JAW
Style 3
TO
NE
E
D
S
CT
U
IT
PRO
D
CUSTOM GRIPPERS ARE AVAILABLE.
PLEASE CONSULT PHD.
Please refer to pages 6A-77 and 6A-78 for
switch and kit information.
NOTE: Design number dictates imperial or metric
mounting holes, dowel pin holes, and ports.
PRODUCT LINE
G - Gripper
M
O
PORTING OPTIONS
L11-UB99 - Manifold option in location 99
(includes GR3 option)
UB48
- Port option in location 48
SWITCH OPTION
CU
- Switch Ready
MOUNTING OPTION
GR3
- Mounting option in location 37
SPRING ASSIST
FSR2
- Spring assist close
FSE2
- Spring assist open
OPTIONS
(OMIT IF NOT REQUIRED)
OPTION:
MOUNTING IN
LOCATION 37
OPTION:
MANIFOLD IN
LOCATION 37
SIZE
27
27
28
28
32
32
50
50
63
63
BORE SIZE MINIMUM TOTAL JAW TRAVEL
Total Travel Per Bore Size
Diameter
(in)
mm
mm (in)
(.177)
27 (1.063)
4.5
(.276)
27 (1.063)
7
(.250)
27 (1.063)
6
(.394)
27 (1.063)
10
(.315)
32 (1.260)
8
(.512)
32 (1.260)
13
(.750)
50 (1.969)
19
(1.102)
50 (1.969)
28
(1.260)
63 (2.480)
32
(1.732)
63 (2.480)
44
37
99
OPTION:
PORTS IN
LOCATION 48
48
15
OPTION:
MANIFOLD IN
LOCATION 99
STANDARD PORT
IN LOCATION 15
CLOSED POSITON
OPEN POSITION
TOTAL JAW TRAVEL =
OPEN POSITION - CLOSED POSITION
G R S 3 3 - 1 - 27 x 4.5 - L11-UB99
SERIES
Regular Duty
DESIGN NO.
(See Note)
1 - Imperial
5 - Metric
TO ORDER SPECIFY:
Product Line, Series, Type, Grip, Jaw, Design No., Size,
Total Jaw Travel, and Options required.
CUS
T
6A
ORDERING DATA: SERIES GRS GRIPPERS
F
6A-66
SOLUTIONS FOR
BENEFITS: SERIES GRS GRIPPERS
BENEFITS
■ Series GRS grippers feature an angled cam drive mechanism and
precision ground jaws for smooth operation and minimal jaw play.
■ Low profile to fit limited space applications.
■ Rugged jaw support, hardened jaws, hardcoated bearing surfaces,
and internal jaw seals in all units ensure long service life.
■ Parallel jaw motion and two jaw travels per size provide superb
adaptability to meet a wide variety of applications.
■ Double acting for use in both internal and external gripping
applications.
■ Jaws and body feature dowel pin holes for accurate tooling
alignment.
■ Optional manifold ports allow elimination of external air lines.
■ Optional spring assist enhances maximum gripping force and
provides part retention upon loss of air pressure.
■ Optional mounting threads, dowel pin holes and port positions
provide added application flexibility.
■ Optional 4 mm and 8 mm round inductive proximity switches, as
well as Series 6790 Solid State and Reed switches, are available
for indication of jaw position and simple interfacing with
electronic system controls.
Large Hardened Jaw
Driving Surfaces
Self-Lubricating Cam Driver
Driver keyed to body
for centering repeatability
Plated & Hardened Steel Jaw Cover
Integral Jaw Seals
Switch Slots Accept Proximity,
Solid State and Reed Switches
(with -CU Option)
Hardened & Ground Steel Jaws
with Precision Dowel Holes
Precise Jaw & Jaw Guide
for Decreased Jaw Play
Chrome Plated Piston Rod
for extended seal life
Hardcoated Aluminum Body
with Precision Dowel Holes
Long Life Piston & Rod Seals
Anodized Aluminum Plug
SPECIFICATIONS
WORKING AIR PRESSURE:
STANDARD UNIT
SPRING ASSIST UNIT
TOTAL GRIP FORCE AT 87 psi [6 bar]:
STANDARD UNIT
SPRING ASSIST UNIT (MID-TRAVEL)
TOTAL JAW TRAVEL
BORE DIAMETER
UNIT WEIGHT:
STANDARD UNIT
SPRING ASSIST UNIT
MAXIMUM TOOLING LENGTH
SPECIFICATIONS
WORKING AIR PRESSURE:
STANDARD UNIT
SPRING ASSIST UNIT
TOTAL GRIP FORCE AT 87 psi [6 bar]:
STANDARD UNIT
SPRING ASSIST UNIT (MID-TRAVEL)
TOTAL JAW TRAVEL
BORE DIAMETER
UNIT WEIGHT:
STANDARD UNIT
SPRING ASSIST UNIT
MAXIMUM TOOLING LENGTH
27 x 4.5
6A
Anodized Aluminum Piston
27 x 7
28 x 6
28 x 10
32 x 8
30 psi min. to 100 psi max. [2 bar min. to 7 bar max.]
50 psi min. to 100 psi max. [3.5 bar min. to 7 bar max.]
68 lb
[302 N]
94 lb
[418 N]
0.177 in [4.5 mm]
1.06 in [27 mm]
48 lb
66 lb
0.276 in
1.06 in
[214 N]
[295 N]
[7.0 mm]
[27 mm]
77 lb
[342 N]
105 lb [468 N]
0.250 in [6.0 mm]
1.06 in [27 mm]
48 lb
66 lb
0.394 in
1.06 in
[214 N]
[293 N]
[10 mm]
[27 mm]
109 lb [484 N]
149 lb [661 N]
0.315 in [8.0 mm]
1.26 in [32 mm]
0.29 lb
0.39 lb
3.0 in
0.29 lb [0.13 kg]
0.39 lb [0.18 kg]
3.0 in [75 mm]
0.54 lb [0.24 kg]
0.69 lb [0.31 kg]
4.0 in [100 mm]
0.54 lb [0.24 kg]
0.69 lb [0.31 kg]
4.0 in [100 mm]
1.00 lb [0.45 kg]
1.34 lb [0.61 kg]
4.0 in [100 mm]
50 x 19
50 x 28
63 x 32
63 x 44
[0.13 kg]
[0.18 kg]
[75 mm]
32 x 13
50 psi min. to 100 psi max. [3.5 bar min. to 7 bar max.]
70 lb
[311 N]
95 lb
[423 N]
0.512 in [13 mm]
1.26 in [32 mm]
235 lb [1045 N]
328 lb
[1460]
0.750 in [19 mm]
1.97 in [50 mm]
157 lb [698 N]
219 lb [973 N]
1.102 in [28 mm]
1.97 in [50 mm]
398 lb
517 lb
1.260 in
2.48 in
[1770 N]
[2299 N]
[32 mm]
[63 mm]
1.00 lb [0.45 kg]
1.34 lb [0.61 kg]
4.0 in [100 mm]
2.40 lb [1.09 kg]
3.11 lb [1.41 kg]
6.0 in [150 mm]
2.40 lb [1.09 kg]
3.11 lb [1.41 kg]
6.0 in [150 mm]
7.80 lb [3.54 kg]
9.50 lb [4.31 kg]
9.0 in [225 mm]
289 lb
376 lb
1.732 in
2.48 in
[1287 N]
[1673 N]
[44 mm]
[63 mm]
7.80 lb [3.54 kg]
9.50 lb [4.31 kg]
9.0 in [225 mm]
6A-67
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
DIMENSIONS: SERIES GRS GRIPPERS
3
2X MANUFACTURING HOLES
(CONSULT PHD FOR MORE INFORMATION)
2X K4 ±.0005 [H7]
DOWEL PIN HOLE
K3
CL
CL
4
K2 B1
K5
1
2X P1 PORT
CL
2
2X K1 THD (SIZE 27, 28, 32 & 50)
4X K1 THD (SIZE 63 ONLY)
EXTRA SIZE 63 THREADS
SHOWN SHADED
B2
P3**
P2**
NOTES:
1) **DIMENSIONS FOR THESE FEATURES CHANGE FOR SPRING ASSIST UNITS,
SEE SPRING ASSIST DIMENSIONS ON PAGE 6A-74 FOR INFORMATION.
2) DESIGNATED CL IS CENTERLINE OF UNIT
3) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS SPECIFICALLY TOLERANCED
4) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm
5) CIRCLED NUMBERS INDICATE POSITIONS
6) *A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION
A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION
5
SIZE 27 & 28
SIZE 32, 50 & 63
CL
CL
P4**
P5**
J8**
J8**
J5**
J5**
B3**
B4**
J3 / 2
J7
2X J1 THD
2X J2 ± .0005 [H7]
DOWEL PIN HOLE
6
A CLOSED*
A OPEN*(SHORT TRAVEL)
APPLIES TO: GRS 27 x 4.5, 28 x 6,
32 x 8, 50 x 19, AND 63 x 32
J3
J4
J6
J3
J7
2X J2 ± .0005 [H7]
DOWEL PIN HOLE
4X J1 THD
J4
J6
A OPEN*(LONG TRAVEL)
APPLIES TO: GRS 27 x 7, 28 x 10,
32 x 13, 50 x 28, AND 63 x 44
6A
27
LETTER DIM
SHORT TRAVEL
SIZE
32
28
50
63
in
.084
mm
2.125
in
.125
mm
3.0
in
.157
mm
4.0
in
.375
mm
9.5
in
.630
mm
16.0
.138
3.5
.197
5.0
.256
6.5
.551
14.0
.875
22.0
3.500
4.250
4.606
2.283
3.386
2.253
2.438
1/4-28
x .512 DP
.1908 x .394 DP
.5510
.787
1.4563
1.2600
1.0238
1.228
3/8-16
x .768 DP
1.457
2.559
.3158 x .512 DP
2.6378
1/8 NPT
1.016
.965
.389
1.151
88.9
108.0
117.0
58.0
86.0
57.2
61.9
M6 x 1.0
x 13.0 DP
5.0 x 10.0 DP
14.0
20.0
37.0
32.0
26.0
31.2
M10 x 1.5
x 19.5 DP
37.0
65.0
8.0 x 13.0 DP
67.0
1/8 BSPP
25.8
24.5
9.9
29.2
(MIN TRAVEL PER JAW)
LONG TRAVEL
(MIN TRAVEL PER JAW)
A CLOSED*
A OPEN SHORT*
A OPEN LONG*
B1
B2
B3**
B4**
J1
J2
J3
J4
J5**
J6
J7
J8**
K1
K2
K3
K4
K5
P1
P2**
P3**
P4**
P5**
1.614
41.0
1.790
45.5
1.890
48.0
1.378
35.0
1.496
38.0
1.036
26.3
1.130
28.7
8-32
M4 x 0.7
x .236 DP
x 6.0 DP
.0658 x .197 DP 2.0 x 5.0 DP
.2559
6.5
.354
9.0
.6889
17.5
.6301
16.0
.4333
11.0
.602
15.3
8-32
M5 x 0.8
x .375 DP
x 9.5 DP
1.024
26.0
1.142
29.0
.1283 x .250 DP 3.0 x 6.0 DP
1.3386
34.0
10-32
M5 x 0.8
.482
12.2
.601
15.3
.201
5.1
.572
14.5
54.0
2.125
60.2
2.370
63.5
2.500
38.0
1.496
50.0
1.969
32.5
1.279
35.4
1.395
M5 x 0.8
10-32
x 8 DP
x .315 DP
.1283 x .197 DP 3.0 x 5.0 DP
8.0
.315
10.5
.413
21.5
.8464
19.0
.7482
14.0
.5514
18.5
.727
M6 x 1.0
1/4-20
x 13.0 DP
x .512 DP
25.0
.984
37.0
1.457
.1908 x .256 DP 5.0 x 6.5 DP
40.0
1.5748
M5 x 0.8
10-32
11.0
.433
13.0
.512
5.1
.201
15.0
.591
2.677
68.0
3.000
76.2
3.190
81.0
1.614
41.0
2.520
64.0
1.686
42.8
1.847
46.9
10-32
M5 x 0.8
x .394 DP
x 10.0 DP
.1595 x .236 DP 4.0 x 6.0 DP
.3937
10.0
.630
16.0
1.1023
28.0
.9845
25.0
.7482
19.0
.938
23.8
5/16-18
M8 x 1.25
x .591 DP
x 15.0 DP
.945
24.0
1.850
47.0
.1908 x .256 DP 5.0 x 6.5 DP
1.9685
50.0
10-32
M5 x 0.8
.591
15.0
.591
15.0
.236
6.0
.728
18.5
146.0
5.748
177.8
7.000
190.5
7.500
75.0
2.953
133.0
5.236
86.6
3.408
92.7
3.648
M10 x 1.5
3/8-24
x 19.5 DP
x .768 DP
.3158 x .512 DP 8.0 x 13.0 DP
22.0
.8661
27.0
1.063
55.0
2.1653
45.0
1.7719
41.0
1.6144
45.5
1.793
M12 x 1.75
1/2-13
x 26.0 DP
x 1.024 DP
50.0
1.969
105.0
4.134
.3783 x .512 DP 10.0 x 13 DP
105.0
4.1340
1/8 BSPP
1/8 NPT
30.0
1.181
30.0
1.181
10.5
.413
36.5
1.437
6A-68
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRS GRIPPERS
SPECIFICATIONS
27
28
32
50
63
SIZE
27 x 4.5
27 x 7
28 x 6
28 x 10
32 x 8
32 x 13
50 x 19
50 x 28
63 x 32
63 x 44
TOTAL CLOSE
GRIP FORCE AT
87 psi [6 bar]
lb
N
68
302
48
213
77
341
48
213
109 485
70
310
235 1045
157 697
398 1770
289 1287
GRIPPER
WEIGHT
lb
kg
0.29 0.13
0.29 0.13
0.54 0.24
0.54 0.24
1.0
0.45
1.0
0.45
2.4
1.1
2.4
1.1
7.8
3.5
7.8
3.5
CLOSE OR
OPEN TIME
87 psi [6 bar]
sec
0.11
0.11
0.13
0.13
0.16
0.16
0.18
0.18
0.22
0.22
DISPLACEMENT
cm3
in3
0.133
2.2
0.133
2.2
0.182
3.0
0.182
3.0
0.335
5.5
0.335
5.5
1.570
26
1.570
26
4.397
72
4.397
72
EXTERNAL
GRIP
Imperial
0.78
0.55
0.88
0.55
1.25
0.80
2.7
1.8
4.6
3.3
Metric
50
36
57
36
81
52
174
116
297
213
INTERNAL
GRIP
Imperial
0.83
0.59
0.93
0.59
1.33
0.86
2.8
1.9
4.7
3.5
Metric
54
38
60
38
86
56
181
123
303
226
* Spring grip force (SF) varies with spring
compression. The minimum spring grip
force values occur with the spring at
least compression (jaws fully closed
on spring close units and fully open on
spring open units). The maximum
spring grip force values occur with the
spring at most compression (jaws fully
open on spring close units and fully
closed on spring open units).
SPRING ASSIST
SPRING ASSIST GRIP FORCE
CLOSE OR OPEN TIME
SF (SPRING ONLY)*
SF (SPRING ONLY)*
SPRING CLOSE GRIP FORCE SPRING OPEN GRIP FORCE SPRING ASSIST 87 psi [6 bar] IN sec
MINIMUM MAXIMUM WEIGHT ADDER with against spring
MINIMUM
MAXIMUM
spring spring only
lb
N
lb
N
lb
kg
lb
N
lb
N
0.12
0.24
0.16
17 73
22 96
0.10 0.05
33 146
31 137
0.12
0.24
0.16
12 51
15 68
0.10 0.05
23 103
22
96
0.13
0.26
0.20
16 71
23 102
0.15 0.07
37 164
35 154
0.13
0.26
0.20
10 44
14 63
0.15 0.07
23 103
22
96
0.16
0.46
0.27
22 98
29 130
0.34 0.15
53 234
50 224
0.16
0.46
0.27
14 63
19 83
0.34 0.15
34 150
32 143
0.17
0.32
0.29
35 155
74 327
0.71 0.32
113 504
113 503
0.17
0.32
0.29
23 104
49 218
0.71 0.32
76 336
75 336
0.22
0.42
0.51
36 160
79 353
1.7
0.77
160 710
159 708
0.22
0.42
0.51
26 117
58 257
1.7
0.77
116 516
116 515
REPEATABILITY
SEALS AND FLUIDS
Long life seals are standard on all Series GRS Grippers. These seals are
compatible with standard paraffin-based lubrication oils used for pneumatic
cylinders. For compatibility with other fluids, consult PHD.
TEMPERATURE LIMITS
Seals and gripper mechanism are designed for use in temperatures
from –20° to 180°F [–30° to 82°C]. For temperatures outside this range,
consult PHD.
LIFE EXPECTANCY
All standard and spring assist units have been engineered and tested
for a minimum of 5 million trouble free cycles. Life may be extended by
periodic lubrication of moving components.
INTERNAL SPRINGS
Internal springs are intended to assist the gripper and add to grip force
in one specific direction. Springs can also be used to open or close the
gripper without pneumatic pressure or to maintain spring grip force if
pressure is lost. Working air pressure for spring assist option units is
50 psi min - 100 psi max [3.5 bar min - 7 bar max].
Grip repeatability is ± .001 in [± .025 mm] of the original position.
Mx, My, and Mz
Fa
Fa
Both Jaws
(tension)
(compression)
Per Jaw
in-lb Nm
SIZE
lb
N
in-lb Nm
lb
N
100 11
27
220
980
50 5.6
110 490
160 18
28
420 1870
80
9
220 980
300 34
32
760 3380
150 17
425 1890
760 86
50
1500 6670
380 43
760 3380
63
3000 13340 1140 129 2280 258
1530 6800
Fa: Total for both jaws.
Mx, My: Allowable moments. Moments measured from the body surface.
Mz: Allowable moment. Moment measured from the jaw center.
Note: When calculating values for Mx, My and Mz, include the grip force
per jaw, tooling weight, part weight, external forces, and acceleration, as
applicable. When calculating the value for Fa, include weight of tooling,
part weight, acceleration, and external forces.
LUBRICATION
Seals and gripper mechanism are prelubricated at the factory for
service with dry filtered air under normal operating conditions.
Fa
(compression)
MATERIAL
Gripper body is hardcoated aluminum. Cover and jaws are hardened steel.
Mz
Mx
SPECIAL GRIPPERS
Grippers for special applications, severe duty, or constructed of special
materials are available. Consult PHD. See page 6A-79 for examples of
custom products and solutions.
My
Fa
(tension)
Mx
My
6A-69
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
6A
SIZE
MINIMUM
TOTAL JAW
TRAVEL
in
mm
0.177 4.5
0.276 7
0.250 6
0.394 10
0.315 8
0.512 13
0.750 19
1.102 28
1.260 32
1.732 44
GRIP FORCE
Total gripping force relative to tooling length is shown below at
the stated actuating pressure. Grip force per jaw equals the total grip
force divided by two. The graphs also indicate the maximum tooling
length for each gripper size.
NOTE: Grip force charts shown below have been simplified for
clarity. To more precisely predict grip forces, refer to the grip force
calculation equations on page 6A-73.
COVER SURFACE
Tooling
Length
PART
F/2
F/2
F = Total Grip Force
SIZE 27 x 4.5
87 p
6A
si [6
80
[356]
60 ps
WIT
H
i [4 b
60
[267]
ar] W
87 ps
SPR
ING
ITH S
i [6 b
G
ar]
60 psi
40
[178]
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
PRIN
[4 bar]
SPRING ONLY
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
20
[89]
0
0
1
[25]
2
[50]
87 ps
i [6 b
60
[267]
60 psi
ar] W
87 psi [6
40
[178]
ITH S
[4 bar]
PRIN
G
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
WITH
SP
RING
bar]
60 psi [4
20
[89]
bar]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
0
0
3
[75]
1
[25]
2
[50]
3
[75]
TOOLING LENGTH in [mm]
SIZE 28 x 6
SIZE 28 x 10
NOTE: Maximum
tooling length varies
linearly with pressure.
120
[534]
NOTE: Maximum
80
[356]
87 p
100
[445]
si [6
80
[356]
60 ps
bar]
WITH
i [4 b
87 psi
60
[267]
ar] W
[6 bar]
SPR
ING
ITH S
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
PRING
60 psi [4
40
[178]
bar]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
20
[89]
0
0
1
[25]
NOTE: Maximum
80
[356]
bar]
100
[445]
SIZE 27 x 7
NOTE: Maximum
2
[50]
3
[75]
87 ps
i [6 b
60
[267]
60 psi
ar] W
[4 bar]
87 psi
40
[178]
ITH S
WITH
PRIN
G
G
[6 bar]
60 psi [4
20
[89]
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
SPRIN
bar]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
0
4
[100]
0
1
[25]
2
[50]
3
[75]
4
[100]
6A-70
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
SIZE 32 x 8
SIZE 32 x 13
NOTE: Maximum
160
[712]
87 psi
120
[534]
[6 bar]
60 psi [4
WITH S
PRING
bar] WIT
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
H SPRIN
87 psi [6 ba
G
r]
80
[356]
60 psi [4 ba
r]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
40
[178]
100
[445]
80
[356]
[6 bar]
60 psi [4
WITH
SPRIN
G
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
H SPRIN
G
bar]
60 psi [4 bar]
40
[178]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
20
[89]
0
0
1
[25]
2
[50]
3
[75]
4
[100]
0
SIZE 50 x 28
[6 bar]
60 psi [4
87 psi [6
200
[890]
WITH
SPRIN
G
bar] WIT
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
H SPRIN
bar]
G
60 psi [4 ba
r]
100
[445]
3
[75]
SIZE 50 x 19
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
4
[100]
NOTE: Maximum
300
[1334]
87 psi
2
[50]
NOTE: Maximum
300
[1334]
1
[25]
400
[1779]
87 psi
200
[890]
[6 bar]
60 psi [4
87 psi [6
WITH S
PRING
bar] WIT
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
H SPRIN
bar]
G
60 psi [4 ba
100
[445]
r]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
0
0
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
0
1
[25]
2
[50]
3
[75]
600
[2669]
400
[1779]
60 psi [4
WITH
SPRIN
G
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
bar]
bar] WIT
H SPRIN
G
60 psi [4 ba
r]
200
[890]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
100
[445]
6
[150]
NOTE: Maximum
87 ps
i [6 b
[6 bar]
87 psi [6
300
[1334]
400
[1779]
87 psi
5
[125]
SIZE 63 x 44
NOTE: Maximum
500
[2224]
4
[100]
SIZE 63 x 32
NOTE: Maximum
bar] WIT
87 psi [6
60
[267]
0
87 psi
300
[1334]
60 psi
ar] W
87 psi [6
[4 bar]
ITH S
PRING
MAXIMUM
TOOLING
LENGTH
at 87 psi [6 bar]
bar]
WITH S
PRING
200
[890]
60 psi [4 ba
r]
100
[445]
MAXIMUM
TOOLING
LENGTH
at 60 psi [4 bar]
or less
SPRING ONLY
0
0
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
7
[175]
8
[200]
0
9
[225]
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
7
[175]
8
[200]
9
[225]
6A-71
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
6A
200
[890]
Jaw tooling should be designed so that the grip point is as
close to the cover surface as possible. As the grip point is moved
away from the cover surface, the applied moment causes jaw
friction to increase, resulting in reduced effective grip force. The
Grip Force Factor (GF) values given in the specifications table on
page 5 are for zero tooling length (cover surface). The grip force
graphs on the previous pages show how grip force decreases as the
grip point is moved from the cover surface. The derating factors and
maximum tooling lengths are included in the grip force graphs.
SIZE 27
1.0
0.9
0.8
27 x 4.5
0.7
At 60 psi [4 bar] or less
0.6
0.5
0.4
0.3
0.2
0.1
At 87 psi [6 bar]
At 100 psi [7 bar]
DERATING FACTOR
MAXIMUM
TOOLING
LENGTHS
27 x 7
0.0
0
1
[25]
2
[50]
3
[75]
SIZE 28
SIZE 32
1.0
28 x 10
0.9
28 x 6
0.6
0.5
0.3
0.2
0.1
At 87 psi [6 bar]
0.4
0.0
0
1
[25]
2
[50]
3
[75]
32 x 8
0.7
0.6
0.5
At 100 psi [7 bar]
DERATING FACTOR
0.8
0.7
At 100 psi [7 bar]
DERATING FACTOR
0.8
MAXIMUM
TOOLING
LENGTHS
32 x 13
0.4
0.3
0.2
0.1
At 87 psi [6 bar]
0.9
MAXIMUM
TOOLING
LENGTHS
0.0
4
[100]
0
1
[25]
2
[50]
3
[75]
1.0
4
[100]
6A
SIZE 50
1.0
0.9
MAXIMUM
TOOLING
LENGTHS
50 x 19 & 50 x 28
0.7
0.6
0.5
0.4
0.3
0.2
0.1
At 87 psi [6 bar]
At 100 psi [7 bar]
DERATING FACTOR
0.8
0.0
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
SIZE 63
1.0
0.9
MAXIMUM
TOOLING
LENGTHS
63 x 32 & 63 x 44
0.7
0.6
0.5
0.4
0.3
0.2
0.1
At 87 psi [6 bar]
At 100 psi [7 bar]
DERATING FACTOR
0.8
0.0
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
7
[175]
8
[200]
9
[225]
6A-72
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
GRIP FORCE CALCULATION EQUATIONS:
STANDARD UNIT (WITHOUT SPRING ASSIST):
TOTAL GRIP FORCE lb [N] = (Pressure psi [bar] x GF ) x Tooling Length Factor
SPRING ASSIST UNIT:
Spring working with applied pressure:
TOTAL GRIP FORCE lb [N] = ((Pressure psi [bar] x GF) + SF lb [N]) x Tooling Length Factor
Spring working against applied pressure:
TOTAL GRIP FORCE lb [N] = ((Pressure psi [bar] x GF ) – SF lb [N]) x Tooling Length Factor
GRIP FORCE CALCULATION EXAMPLE:
1.
Determine Grip Force Factor GF = 1.25 [81] (from Specifications Table on page 6A-69)
2.
Determine Tooling Length Factor = 0.74 [0.74] (from Tooling Length Factor graph on page 6A-72 at 3 in [75 mm] tooling length)
3.
Total Grip Force Calculations:
For Standard Unit (without spring assist): GRS33-1-32 x 8 [GRS33-5-32 x 8]
Total Grip Force
= 87 psi x 1.25 x .74 = 80 lb [6 bar x 81 x .74 = 360 N]
For Spring Assist Close Unit: GRS33-1-32 x 8 –FSR2 [GRS33-5-32 x 8 –FSR2]
Spring grip force depends on jaw position. Jaw position at part contact is 40% from full close (the internal spring is 40% from its
minimum force). Spring grip force SF can be determined by interpolating between the minimum and maximum spring grip force
values in the Spring Grip Force table on page 6A-69.
Find Spring Grip Force SF
= Min. spring force + (40% x (Max. spring force – Min. spring force))
= 29 lb + (.4 x (50 lb – 29 lb)) = 37 lb [130 N + (.4 x (224 N – 130 N)) = 168 N]
Grip close direction (springs working with applied pressure):
Grip Close Grip Force Factor = 1.25 [81] (from Specifications Table on page 6A-69)
Total Grip Force = ((87 psi x 1.25) + 37 lb) x .74 = 108 lb [((6 bar x 81 N) + 168 N) x .74 = 484 N]
Grip open direction (springs working against applied pressure):
Grip Open Grip Force Factor = 1.33 [86] (from Specifications Table on page 6A-69)
Total Grip Force = ((87 psi x 1.33) - 37 lb) x .74 = 58 lb [((6 bar x 86 N) - 168 N) x .74 = 258 N]
COVER SURFACE
Tooling Length
= 3 in [75 mm]
F/2
PART
F/2
2.8 in [71 mm]
6A-73
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
6A
Gripper: Series GRS Size 32 x 8
Common Parameters:
Jaw Position at Part Contact: 2.8 in [71mm] (40% of total jaw travel from full close)
Operating Pressure = 87 psi [6 bar]
Tooling Length = 3 in [75 mm]
OPTIONS: SERIES GRS GRIPPERS
FSR2
MEDIUM FORCE
SPRING ASSIST CLOSE
P24
2X P21 PORT
CL
FSE2
P25
P22
MEDIUM FORCE
SPRING ASSIST OPEN
B5
(SPRING ASSIST
ADDER)
P23
J9
Springs can maintain spring grip force if air
pressure is lost or increase grip force in one specific
direction when used with air pressure. Spring assist
units are engineered and tested for a minimum of
5 million cycles under normal operating conditions.
Working air pressure for spring assist units is
50 psi min - 100 psi max [3.5 bar min - 7 bar max].
For spring grip forces, see specifications on page
6A-69.
CL
J10
B7
4
2
B6
(B4)
1
3
LETTER
DIM
(B4)
B5
B6
B7
J9
J10
P21
P22
P23
P24
P25
27
28
mm
in
1.130 28.7
.6100 15.5
1.740 44.2
1.646 41.8
1.212 30.8
1.299 33.0
10-32 M5 x 0.8
5.1
.201
1.164 29.6
12.2
.482
15.3
.601
mm
in
1.395 35.4
.6100 15.5
2.005 50.9
1.889 48.0
1.337 34.0
1.456 37.0
10-32 M5 x 0.8
5.1
.201
1.138 28.9
11.0
.433
13.0
.512
in
1.847
.9054
2.753
2.592
1.843
2.008
10-32
.236
1.553
.591
.591
SIZE
50
63
32
mm
mm
in
in
mm
46.9
61.9
2.438
3.648
92.7
23.0
29.5
1.1614
1.2993
33.0
69.9
91.4
3.599
4.948
125.7
65.8
86.7
3.414
4.708
119.6
46.8
60.7
2.389
3.092
78.5
51.0
66.5
2.618
3.465
88.0
M5 x 0.8 1/8 NPT 1/8 BSPP 1/8 NPT 1/8 BSPP
6.0
9.9
.389
.413
10.5
39.4
53.0
2.087
2.736
69.5
15.0
25.8
1.016
1.181
30.0
15.0
24.5
.965
1.181
30.0
NOTES:
6A
P19
UB48
PORT OPTION IN
LOCATION 48
This option provides ports in location 48. The
standard ports are plugged.
P17
(B5)*
P21*
P22*
P18
P20
3
1
(B4)
4
2
2X P16 PORT
CL
(B1)
PORT OPTION
UB48
LETTER
DIM
P16
P17
P18
P19
P20
P21*
P22*
(B1)
(B4)
(B5)*
(A CLOSED)
27
in
10-32
.276
.201
.433
.446
.201
1.056
1.378
1.130
.610
1.614
(A CLOSED)
28
mm
M5
7.0
5.1
11.0
11.3
5.1
26.8
35.0
28.7
15.5
41.0
in
10-32
.236
.201
.236
.511
.201
1.121
1.496
1.395
.610
2.125
mm
M5
6.0
5.1
6.0
13.0
5.1
28.5
38.0
35.4
15.5
54.0
SIZE
32
mm
in
10-32 M5
5.5
.216
6.0
.236
5.5
.216
.728 18.5
6.0
.236
1.553 39.4
1.614 41.0
1.847 46.9
.905 23.0
2.677 68.0
50
mm
in
10-32 M5
7.5
.295
7.4
.290
.787 20.0
1.060 26.9
7.4
.290
2.086 53.0
2.283 58.0
2.438 61.9
1.161 29.5
3.500 88.9
63
in
mm
1/8 NPT 1/8 BSPP
.472
12.0
.394
10.0
.472
12.0
1.407
35.7
.394
10.0
2.697
68.5
2.953
75.0
3.648
92.7
1.299
33.0
5.748
146.0
NOTES:
4) * APPLIES TO SPRING ASSIST UNITS ONLY
6A-74
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
L11-UB99
L11-UB37
MANIFOLD PORTS
MANIFOLD
OPTION L11-UB99
With these options the gripper is configured for manifold
mounting on either the standard or optional mounting face, according
to the selected option code. The standard ports are plugged. O-ring
seals are provided for mounting between the gripper and the
manifold.
When the L11-UB37 option is specified, the GR3 option is
automatically included to provide mountings on the manifold surface.
See page 6A-76 for GR3 mounting information.
MANIFOLD OPTION
L11-UB37 INCLUDES
MOUNTING OPTION GR3
(SEE GR3 OPTION
FOR DIMENSIONS)
JAWS SHOWN IN CLOSED POSITION
CL
2X MANIFOLD Ø
CUSTOMER
SUPPLIED
MANIFOLD
P14
P13
P24*
P23*
CLOSE
OPEN
CL
OPEN
P6
3
4 CL
REPLACEMENT
MANIFOLD SEAL KITS
Ø P11
O-RING I.D.
O-RING
O-RING CROSS-SECTION T
(B1) 2
P8
CLOSE
1
(B5)*
(B4)
(A CLOSED)
KIT NUMBER
SIZE
27 & 28 70247-27-1
70247-32-1
32
70247-50-1
50
70247-63-1
63
Manifold kit includes o-rings.
FOR CUSTOMER USE
FOR CUSTOMER MOUNTING SURFACE)
P9
2X MANIFOLD Ø
GRIPPER
P7
OPTION L11-UB99
Ø P10
P12
SIZE
27
32
LETTER
28
63
50
mm
in
mm
in
mm
mm
in
in
mm
DIM
in
46.0
1.811
1.181 30.0
19.5
15.4
.768
.608
16.5
P6
.650
12.0
.472
7.0
.276
3.5
6.0
.138
.236
4.5
P7
.177
46.0
1.811
1.437 36.5
19.5
15.0
.768
.591
16.5
P8
.650
12.0
.472
7.0
.276
5.5
7.5
.216
.295
6.0
P9
.236
6.0
.236
6.0
.236
5.0
5.0
.197
.197
5.0
P10
.197
P10 O-RING
2 mm x 1.5 mm 2 mm x 1.5 mm 2 mm x 1.5 mm 3 mm x 1.5 mm
3 mm x 1.5 m
(I.D. x T)
2.5
.098
2.5
.098
2.0
2.0
.078
.078
2.0
P11
.078
1.2
.048
1.2
.048
1.2
1.2
.048
.048
1.2
P12
.048
8.7
.343
7.4
.290
6.2
4.9
.246
.191
4.8
P13
.190
38.2
1.504
1.060 26.9
18.4
12.4
.725
.489
13.8
P14
.545
8.7
.343
7.4
.290
6.2
4.9
.246
.191
4.8
P23*
.190
69.7
2.743
2.071 52.6
1.553 39.4
1.006 25.6
P24*
1.121 28.5
75.0
2.953
2.283 58.0
1.614 41.0
1.378 35.0
(B1)
1.496 38.0
92.7
3.648
2.438 61.9
1.847 46.9
1.130 28.7
(B4)
1.395 35.4
1.2993 33.0
1.1614 29.5
.9054 23.0
.6100 15.5
(B5)*
.6100 15.5
NOTES:
3) DIMENSIONS TO MANIFOLD HOLES ARE FOR LOCATION OF O-RING COUNTERBORES. MANIFOLD HOLES
MAY DIFFER SLIGHTLY
4) * APPLIES TO SPRING ASSIST UNITS ONLY
6A-75
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
6A
OPTION L11-UB37
GR3
MOUNTING OPTION IN LOCATION 37
This option provides mounting threads and dowel holes on the
side opposite the standard ports.
K11
K7
CL
2X K6 ±.0005 [H7]
DOWEL PIN HOLE
K10
K8
GR3 MOUNTING,
INCLUDES 2 FEMALE
THREADS AND 2 DOWEL
PIN HOLES
K12*
2X K9 THD
(B5)*
CL
3
(B1) 2
4 CL
1
6A
(B5)*
(B4)
(A CLOSED)
CU
LETTER
DIM
K6
27
28
SIZE
32
mm
mm
in
in
mm
in
5.0
3.0
.1908
.1283
5.0
.1908
x .236 DP x 6.0 DP x .236 DP x 6.0 DP x .197 DP x 5.0 DP
35.0
19.0
1.3780
.7480
24.0
K7
.9449
36.0
22.0
1.417
.866
27.0
K8
1.063
M5 x 0.8 1/4-20 M6 x 1.0 5/16-18 M8 x 1.25
8-32
K9
x .315 DP x 8.0 DP x .512 DP x 13.0 DP x .591 DP x 15.0 DP
20.0
11.0
.787
.433
14.0
K10
.551
50.0
31.0
1.969
1.220
38.0
K11
1.496
59.0
37.5
2.323
1.476
42.5
K12*
1.673
41.0
35.0
1.614
1.378
38.0
(B1)
1.496
46.9
28.7
1.847
1.130
35.4
(B4)
1.395
23.0
15.5
.9054
.6100
15.5
(B5)*
.6100
68.0
41.0
2.677
54.0
(A CLOSED) 1.614
2.125
50
63
mm
in
in
mm
8.0
.3158
.3783
10.0
x .315 DP x 8.0 DP x.394 DP x 10.0 DP
50.0
1.9685
3.1496
80.0
48.0
1.890
2.717
69.0
3/8-16 M10 x 1.5 1/2-13 M12 x 1.75
x .630 DP x 16.0 DP x 1.024 DP x 26.0 DP
26.0
1.024
1.378
35.0
65.0
2.559
4.134
105.0
77.5
3.051
4.016
102.0
58.0
2.283
2.953
75.0
61.9
2.438
3.648
92.7
29.5
1.1614
1.2993
33.0
88.9
3.500
5.748
146.0
NOTES:
3) METRIC INFORMATION SHOWN IN [ ] OR IN COLUMNS DESIGNATED mm
5) *APPLIES TO SPRING ASSIST UNITS ONLY
SWITCH READY
With this option the gripper includes a target pin attached to
the jaw for use with inductive proximity switches as well as the
Series 6790 Solid State and Reed switches. Switches and switch
mounting kits are required in addition to the CU option and are sold
separately. See Accessories pages for switches and mounting kits.
6A-76
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
ACCESSORIES: SERIES GRS GRIPPERS
PROXIMITY SWITCHES
(-CU OPTION REQUIRED)
(SIZE 27, 28, & 32)
PART NUMBER
DESCRIPTION
(SIZE 50 & 63)
PART NUMBER
DESCRIPTION
SIZE 27, 28, & 32
PS12**
PROXIMITY SWITCH
MOUNTING KITS
SIZE KIT NUMBER
27 & 28
70663-27
32
70663-32
50
70663-50
70663-63
63
Each kit includes 1 target,
2 switch mounting brackets,
and fasteners for mounting.
Switches sold separately.
SIZE 50 & 63
(B1)
PS6
PS8
OPTIONAL
SPRING
ASSIST
(B5)**
PS2 MAX
SENSING
DISTANCE
APPROXIMATE
LED LOCATION
(4 mm ONLY)
Ø PS1
PS7*
(SIZES 32 & 63)
6A
PS7*
(SIZES 27, 28 & 50)
(B4)
PS4
PS10 HEX SIZE
(PROX CLAMP,
4 mm ONLY)
PS9 HEX SIZE
(BRACKET ADJUSTMENT)
LETTER
DIM
PS1
PS2
PS3
PS4
PS5
PS6
PS7*
PS8
PS9
PS10
PS11
PS12**
(B1)
(B4)**
(B5)**
PS3
PS11 HEX SIZE
PS5
27
28
SIZE
32
mm
in
4 mm ROUND
.5
.020
6.0
.236
9.0
.354
10.0
.393
1.377 35.0
11.0
.435
6.5
.256
1.3
.051
2.0
.079
1.3
.051
19.5
.767
1.378 35.0
1.130 28.7
.6100 15.5
mm
in
4 mm ROUND
.5
.020
6.0
.236
11.5
.454
10.0
.393
1.218 30.9
7.0
.276
4.2
.165
1.3
.051
2.0
.079
1.3
.051
15.4
.608
1.496 38.0
1.395 35.4
.6100 15.5
mm
in
4 mm ROUND
.5
.020
7.0
.276
14.0
.551
10.0
.393
21.8
.860
2.1
.082
1.3
.050
1.3
.051
2.0
.079
1.3
.051
—
—
1.614 41.0
1.847 46.9
.9054 23.0
50
in
mm
8 mm THREADED
.030
.8
.680
17.3
.630
16.0
.690
17.5
1.252 31.8
.310
7.9
—
—
.051
1.3
—
—
.061
1.5
.091
2.3
2.283 58.0
2.438 61.9
1.1614 29.5
63
mm
in
8 mm THREADED
.8
.030
17.3
.680
1.337 34.0
17.5
.690
19.1
.753
4.8
.189
—
—
1.3
.051
—
—
1.5
.061
—
—
2.953 75.0
3.648 92.7
1.2993 33.0
NOTES:
1) * INDICATES BOTTOM OF PROXIMITY SWITCH BARREL, DOES NOT INCLUDE CABLE. DIMENSIONS DO NOT APPLY TO
SPRING ASSIST UNIT BECAUSE PROXIMITY SWITCH BARREL DOES NOT PROTRUDE ON SPRING ASSIST UNITS
2) ** APPLIES TO SPRING ASSIST UNITS ONLY
6A-77
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
ACCESSORIES: SERIES GRS GRIPPERS
SERIES 6790 SOLID STATE & REED SWITCHES (ALL UNITS)
PART NUMBER
DESCRIPTION
67923-1
NPN (Sink) Solid State 4.5-30 VDC, Quick Connect
67903-1-02
NPN (Sink) Solid State 4.5-30 VDC, 2 meter cable
67903-1-05
NPN (Sink) Solid State 4.5-30 VDC, 5 meter cable
67924-1
PNP (Source) Solid State 4.5-30 VDC, Quick Connect
67904-1-02
PNP (Source) Solid State 4.5-30 VDC, 2 meter cable
67904-1-05
PNP (Source) Solid State 4.5-30 VDC, 5 meter cable
67922-1
PNP (Source) or NPN (Sink) DC Reed 4.5-30 VDC, Quick Connect
67902-1-02
PNP (Source) or NPN (Sink) DC Reed 4.5-30 VDC, 2 meter cable
67902-1-05
PNP (Source) or NPN (Sink) DC Reed 4.5-30 VDC, 5 meter cable
63549-02
2 meter Cordset with Quick Connect
63549-05
5 meter Cordset with Quick Connect
SERIES 6790 SWITCH
MOUNTING KITS
SIZE
27 & 28
32
50
63
KIT NUMBER
70664-27
70664-32
70664-50
70664-63
Each kit includes 1 target,
2 switch mounting brackets,
HS2*
(SIZE 27, 28 & 32)
HS2*
(SIZE 50 & 63)
(B1)
HS3
6A
OPTIONAL
SPRING
ASSIST
(B5)**
HS9**
SERIES 6790 SWITCH
(BRACKET OBSTRUCTS
VIEW OF SWITCH)
HS4
(B4)
HS7 HEX SIZE
HS6
.051 [13] HEX SIZE
APPROXIMATE
LED LOCATION
ORIENT TARGET
AS SHOWN
LETTER
DIM
HS2*
HS3
HS4
HS5
HS6
HS7 HEX
HS9**
(B1)
(B4)
(B5)**
27
in
.197
.236
.315
.246
.084
.051
.925
1.378
1.130
.6100
HS5
SIZE
32
28
mm
5.0
6.0
8.0
6.2
2.1
1.3
23.5
35.0
28.7
15.5
in
.040
.236
.483
.246
.185
.051
1.093
1.496
1.395
.6100
mm
1.0
6.0
12.3
6.2
4.7
1.3
27.8
38.0
35.4
15.5
in
.040
.266
.835
.214
.282
.051
1.740
1.614
1.847
.9054
mm
1.0
6.8
21.2
5.4
7.2
1.3
44.2
41.0
46.9
23.0
50
in
.560
.236
1.194
.296
.325
.061
2.355
2.283
2.438
1.1614
mm
14.2
6.0
30.3
7.5
8.3
1.5
59.8
58.0
61.9
29.5
63
in
1.298
.236
1.707
.236
1.032
.061
3.006
2.953
3.648
1.2993
mm
33.0
6.0
43.4
6.0
26.2
1.5
76.4
75.0
92.7
33.0
NOTES:
1) * INDICATES END OF SERIES 6790 SWITCH BRACKET, DOES NOT INCLUDE CABLE
2) ** APPLIES TO SPRING ASSIST UNITS ONLY
6A-78
(800) 624-8511
www.phdinc.com/grs
CAT-03
SOLUTIONS FOR
APPLICATIONS & CONCEPTS: SERIES GRS GRIPPERS
The combination of a PHD Series RI Rotary Actuator, GRS
Gripper, STP Slide and SM Slide creates an automated part handler
capable of complex part movements. The high grip force of the PHD
Series GRS Gripper assures secure product retention in this
conveyor fed lathe loading operation.
Working in conjunction, a PHD Series GRS Gripper and PHD
Series RI Rotary Actuator provide the ability to grip and rotate
products for further processing. The PHD Series SM Slide
eliminates the need for a lift table during the vertical movement of
the products. With the use of manifolding between the Series GRS
Gripper and the Series RI Rotary Actuator, simplified plumbing of air
lines is achieved.
Series SM Slide
Series SM Slide
Series RI Rotary Actuator
with manifold
Series GRS Gripper
with manifold
Air lines for Series
GRS Gripper
Series STP Slide
Air lines for Series
RI Rotary Actuator
Series GRS Gripper
Series RI Rotary Actuator
6A
CUSTOM PRODUCTS & SOLUTIONS
Illustrations shown are for concept only. Other variations include:
■ Smaller or larger bore sizes
■ Shorter or longer strokes
■ Fluid compatibility
■ Alternate port locations
■ Alternate mounting locations
Contact PHD, Inc. with your product requirements.
ALTERNATE JAW STYLE
PRESSURE / VACUUM PORT
ALTERNATE JAW STYLE
STROKE ADJUSTMENT
ADDITIONAL DOWEL HOLES FOR
FIXTURING OR NESTING OF PART
6A-79
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grs
position.
(800) 624-8511
CAT-03
MANIFOLD OPTIONS
UNIT OPTIONS
E - Hall Switch Ready
OPTIONS
TYPE
Narrow Body Parallel
JAW
Style 2
Each mounting kit contains:
1 6 mm square switch bracket
1 mounting screw
HALL EFFECT SWITCH MOUNTING KIT
PART NUMBER
DESCRIPTION
68487-1
Switch Mounting Kit
6 mm SQUARE HALL EFFECT SWITCHES
PART NUMBER COLOR
DESCRIPTION
55803-1-02
Yellow NPN (Sink) 4.5-24 VDC, 2 meter cable
55804-1-02
Red
55823-1
Yellow NPN (Sink) 4.5-24 VDC, Quick Connect
55824-1
Red
PRODUCT LINE
G - Gripper
TO
NE
PRO
D
E
D
S
CT
U
IT
M
O
STANDARD
PORT
LOCATION
MANIFOLD
LOCATION
99 OPTIONAL:
TOTAL JAW TRAVEL =
MINIMUM TOTAL JAW TRAVEL (OPEN POSITION - CLOSED POSITION)
OPEN POSITION
mm
(in)
CLOSED POSITION
7
(.276)
13 (.512)
20 (.787)
26 (1.024)
NOTE:
1) Design number dictates imperial or metric
BORE SIZE
Diameter
mm (in)
14 (.551)
14 (.551)
16 (.630)
16 (.630)
G R L 1 2 - 1 - 14 x 13 - L11-UB99
SERIES
Regular Duty
SYNCHRONIZATION
0 - Non-synchronized
1 - Synchronized
CUS
T
www.phdinc.com/grl
DESIGN NO.
(See Note 1)
1 - Imperial
5 - Metric
TO ORDER SPECIFY:
Product Line, Series, Type, Synchronization, Jaw, Design No.,
Size, Total Jaw Travel, and Options required.
6A
ORDERING DATA: SERIES GRL GRIPPERS
F
6A-80
SOLUTIONS FOR
BENEFITS: SERIES GRL GRIPPERS
BENEFITS
■
Parallel jaw motion simplifies jaw tooling design and is ideal for
gripping parts of varying sizes.
■
Double acting for use in both internal and external gripping
applications.
■
Narrow width, low profile and long jaw travel for a wide range
of applications where space is limited.
■
Rugged jaw support and hardcoated bearing surfaces ensure
long service life.
■
Jaws and body feature dowel pin holes for accurate tooling
alignment.
■
Available in either synchronous or non-synchronous versions
■
Optional manifold ports allow elimination of external air lines.
■
Optional 6 mm square Hall Effect switches are available for
indication of jaw position and simple interfacing to electronic
system controls.
6A
Hardened Steel
Jaws with Precision
Dowel Holes
Removable Hardened Steel
Synchronizer
Pressure
Energized Seals
Anodized
Aluminum Pistons
SPECIFICATIONS
GRLx2-x-14x7
GRLx2-x-14x13
GRLx2-x-16x20
GRLx2-x-16x26
WORKING AIR PRESSURE
5 psi min. to 100 psi max. [.3 bar min. to 7 bar max.]
TOTAL GRIP FORCE AT 87 psi [6 bar]
28 lb
[124 N]
30 lb
[132 N]
41 lb
[182 N]
41 lb
[182 N]
TOTAL JAW TRAVEL
0.28 in
[7 mm]
0.51 in [13 mm]
0.79 in [20 mm] 1.02 in [26 mm]
BORE DIAMETER (2 bores)
0.55 in [14 mm] 0.55 in [14 mm]
0.63 in [16 mm] 0.63 in [16 mm]
UNIT WEIGHT
0.18 lb [0.08 kg] 0.24 lb [0.11 kg]
0.39 lb [0.18 kg] 0.47 lb [0.21 kg]
MAX. TOOLING LENGTH AT 100 psi [7 bar] 3 in
[75 mm]
3 in
[75 mm]
4 in
[100 mm]
5 in [125 mm]
6A-81
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grl
DIMENSIONS: SERIES GRL GRIPPERS
K5
2X Ø K4 ±.0005
[K4 H7]
K2
K3 THD
K1
(CONSULT PHD FOR MORE
INFORMATION)
B1
P4
5
2X SEE SWITCH OPTION
FOR DETAILS
P3
P2
B3 J3
OPEN
CLOSE
J2
+.016 +.40
A (OPEN) -.000 -.00
B2
6
2X P1 PORT
6A
+.000 +.00
A (CLOSED) -.007 -.18
B4
4X Ø J10 ±.00020
[J10 H7]
1
2X PLUGGED MANUFACTURING
HOLES (CONSULT PHD
FOR MORE INFORMATION)
J1
J4
J5
4
2
J8
J7
J6
J9 THD
3
NOTES:
1) NUMBERS IN [ ] ARE mm.
6A-82
(800) 624-8511
www.phdinc.com/grl
CAT-03
SOLUTIONS FOR
DIMENSIONS: SERIES GRL GRIPPERS
J10
K1
K2
K3
K4
K5
P1
P2
P3
P4
GRLx2-x-14x7
mm
in
3.5
.138
38.1
1.500
45.2
1.778
58.8
2.316
19.0
.748
28.0
1.102
48.5
1.908
19.1
.750
5.69
.2240
29.5
1.162
3.0
.118
14.50
.5709
6.4
.250
7.92
.312
—
—
4 x 4-40 4 x M3 x 0.5
x .190 DP x 4.8 DP
2.0 x
.07893 x
3.0 DP
.118 DP
15.1
.594
19.1
.750
4 x 4-40 4 x M3 x 0.5
x .150 DP x 3.8 DP
3.0 x
.0947 x
4.0 DP
.157 DP
—
—
M5 x 0.8
10-32
17.1
.675
7.5
.296
9.0
.354
MODEL NUMBER
GRLx2-x-14x13
GRLx2-x-16x20
in
in
mm
mm
.256
6.5
1.750
44.5
2.264
57.5
3.022
76.8
.748
19.0
1.102
28.0
66.4
2.614
22.2
.875
5.69
.2240
29.5
1.162
3.0
.118
17.50
.6890
6.4
.250
11.11
.438
—
—
4 x 4-40 4 x M3 x 0.5
x .190 DP x 4.8 DP
2.0 x
.07893 x
3.0 DP
.118 DP
15.1
.594
19.1
.750
4 x 4-40 4 x M3 x 0.5
x .150 DP x 3.8 DP
3.0 x
.0947 x
4.0 DP
.157 DP
—
—
M5 x 0.8
10-32
17.1
.675
11.0
.433
16.0
.630
GRLx2-x-16x26
mm
in
.394
13.0
10.0
.512
2.250
66.7
57.2
2.625
3.042
92.8
77.3
3.653
3.905
117.2
99.2
4.614
.874
22.2
22.2
.874
1.230
31.2
31.2
1.230
3.497
88.8
106.8
4.206
28.6
1.125
33.3
1.313
5.69
.2240
5.69
.2240
32.5
1.281
32.5
1.281
3.0
.118
3.0
.118
23.00
.9055
28.00
1.1024
6.4
.250
6.4
.250
15.88
.625
19.05
.750
6.35
.250
6.35
.250
6 x 5-40 6 x M3 x 0.5 6 x 5-40 6 x M3 x 0.5
x .190 DP x 4.8 DP
x .190 DP x 4.8 DP
2.0 x
.07893 x
2.0 x
.07893 x
3.0 DP
.118 DP
3.0 DP
.118 DP
16.7
.656
16.7
.656
25.4
1.000
25.4
1.000
8 x 5-40 8 x M3 x 0.5 8 x 5-40 8 x M3 x 0.5
x .197 DP x 5.0 DP
x .197 DP x 5.0 DP
3.0 x
.1259 x
3.0 x
.1259 x
4.0 DP
.157 DP
4.0 DP
.157 DP
45.0
1.772
45.0
1.772
M5 x 0.8
10-32
M5 x 0.8
10-32
19.8
.778
19.8
.778
13.0
.512
17.5
.689
31.0
1.220
1.575
40.0
6A
LETTER
DIM
MIN TRAVEL
PER JAW
A CLOSED
A OPEN
B1
B2
B3
B4
J1
J2
J3
J4
J5
J6
J7
J8
J9
NOTES:
1) NUMBERS IN [ ] ARE mm.
2) ALL DIMENSIONS ARE CENTERED ON CENTERLINE OF UNIT UNLESS OTHERWISE SPECIFIED.
SOLUTIONS FOR
6A-83
(800) 624-8511
CAT-03
www.phdinc.com/grl
ENGINEERING DATA: SERIES GRL GRIPPERS
GRIP FORCE
87 psi [6 bar] actuating pressure. Grip force per jaw equals the total
grip force divided by two. The chart also indicates the maximum
tooling length for each gripper size.
87 psi [6 bar]
45
[200]
Body Surface
Tooling
Length
40
[178]
F/2
35
[156]
F/2
PART
30
[133]
25
[111]
GRL14x13
GRL16x20
20
[89]
GRL16x26
GRL14x7
15
[67]
10
[44]
MAX
TOOLING
LENGTH
5
[22]
MAX
TOOLING
LENGTH
MAX
TOOLING
LENGTH
0
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
close to the body surface as possible. As the grip point is moved
away from the body surface, the applied moment causes jaw friction
to increase, resulting in reduced effective grip force. The Grip Force
Factor (GF) values given in the specifications chart on the following
page are for zero tooling length (body surface). The adjacent chart
shows how grip force decreases as the grip point is moved from the
body surface. The derating factors and maximum tooling lengths are
included in the graph above.
1.0
0.9
GRL14x13
0.8
GRL16x20
0.7
DERATING FACTOR
6A
0.6
GRL16x26
0.5
GRL14x7
0.4
0.3
0.2
Body Surface
MAX
TOOLING
LENGTH
0.1
Tooling Length
MAX
TOOLING
LENGTH
MAX
TOOLING
LENGTH
0.0
PART
0
1
[25]
2
[50]
3
[75]
4
[100]
5
[125]
6
[150]
6A-84
(800) 624-8511
www.phdinc.com/grl
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRL GRIPPERS
SPECIFICATIONS
SIZE
GRL 14x7
GRL 14x13
GRL 16x20
GRL 16x26
MINIMUM
TOTAL JAW
TRAVEL
in mm
0.28 7
0.51 13
0.79 20
1.02 26
TOTAL CLOSE
GRIP FORCE AT
87 psi [6 bar]
N
lb
28 124
30 132
41 182
41 182
GRIPPER
WEIGHT
kg
lb
0.18 0.08
0.24 0.11
0.39 0.18
0.47 0.21
CLOSE OR
OPEN TIME
87 psi [6 bar]
sec
0.085
0.100
0.110
0.120
EXTERNAL
INTERNAL
DISPLACEMENT GRIP
GRIP
in3
cm3
imperial metric
imperial metric
21
21
0.32
0.32
0.134 2.2
22
22
0.34
0.34
0.243 4.0
30
30
0.47
0.47
0.492 8.1
30
30
0.47
0.47
0.636 10
SEALS AND FLUIDS
LUBRICATION
Long life seals are standard on all Series GRL Grippers. These
seals are compatible with standard paraffin-based lubrication oils
used for pneumatic cylinders. For compatibility with other fluids,
consult PHD.
for service with dry filtered air under normal operating conditions.
Lubricated air may increase the life of the unit.
MATERIAL
TEMPERATURE LIMITS
Seals and gripper mechanism are designed for use in temperatures from –20° to 180°F [–30° to 82°C]. For higher temperatures,
consult PHD.
Gripper body is hardcoated aluminum. Jaws are hardened
steel.
SPECIAL GRIPPERS
LIFE EXPECTANCY
All standard units have been designed and tested for a
minimum of 5 million trouble free cycles, with minimal wear.
REPEATABILITY
Grip repeatability is within ± .001 in [± .025 mm] of the original
position.
GRLx2-x-14 x 7
GRLx2-x-14 x 13
GRLx2-x-16 x 20
GRLx2-x-16 x 26
Nm
Nm
Nm
Nm
in-lb
in-lb
in-lb
in-lb
Mx Per Jaw
2.7
3.4
5.1
6.2
24
30
45
55
Total Both Jaws (2 x Mx)
5.4
6.8
10
12
48
60
90
110
My Per Jaw
2.7
3.4
5.1
6.2
24
30
45
55
Total Both Jaws (2 x My)
5.4
6.8
10
12
48
60
90
110
Mz Per Jaw
2.3
2.8
4.0
5.1
20
25
35
45
Total Both Jaws (2 x Mz)
4.5
5.6
7.9
10
40
50
70
90
Mx, Mz: Allowable moments per jaw. Moments measured from the body NOTE: When calculating values for Mx, My and Mz,
include the grip force per jaw, tooling weight, part
surface.
My: Allowable moment per jaw. Moment measured from the jaw center. weight, external forces, and acceleration as applicable.
6A
MAX. ALLOWABLE MOMENTS ON GRIPPER JAWS
Mz
Mx
My
Mx
My
TOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Tooling Length Factor
Example: GRL12-1-16x20, [GRL12-5-16x20]
Find Grip Force Factor GF = 0.47 [30] (from Specifications above)
Find Tooling Length Factor = 0.6 [0.6] (See Tooling Length Factor graph, page 6A-84)
(Tooling Length of 3 in [75 mm] 0.6 [0.6])
Total Grip Force = 87 psi x 0.47 x .6 = 25 lb [6 bar x 30 x .6 = 108 N]
Body Surface
F/2
PART
Tooling = 3 in [75 mm]
Length
F/2
6A-85
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grl
OPTIONS: SERIES GRL GRIPPERS
L11-UB99
MANIFOLD OPTION
L11-UB99
This option configures the gripper for manifold mounting on
the standard mounting surface. The standard ports are plugged.
O-rings are provided for sealing between the gripper and the manifold.
MANIFOLD REPLACEMENT KIT NUMBER
GRLx2-x-14x7 GRLx2-x-14x13 GRLx2-x-16x20 GRLx2-x-16x26
TYPE
68221-16-1-1
68221-14-1-1
IMPERIAL 68221-14-1-1
68221-16-1-1
68221-16-5-1
68221-14-5-1
METRIC 68221-14-5-1
68221-16-5-1
Manifold kit includes port plugs and o-rings.
MANIFOLD
OPTION
L11-UB99
CUSTOMER
SUPPLIED
MANIFOLD
P9
GRIPPER
3
(B1)
Ø P7
Ø P8
O-RING I.D.
P6
P5
CLOSE
O-RING
OPEN
CL
2X Ø (P7)
CUSTOMER
MANIFOLD
COUNTERBORE
1
2X Ø (P8) CUSTOMER
MANIFOLD HOLE
2X STANDARD PORTS
PLUGGED AT FACTORY
6A
5
FOR CUSTOMER USE
4
2
6
MODEL NUMBER
GRLx2-x-14x13
GRLx2-x-16x20
LETTER GRLx2-x-14x7
mm
in
mm
mm
in
DIM
in
99.2
3.905
76.8
58.8
3.022
(B1)
2.316
4.0
.157
3.5
3.5
.138
P5
.138
35.0
1.378
20.0
20.0
.787
P6
.787
5.0
.197
5.0
5.0
.197
P7
.197
P7 O-RING
2 mm x 1.5 mm 2 mm x 1.5 mm 2 mm x 1.5 mm
(I.D. X T)
2.0
.078
2.0
2.0
.078
P8
.078
1.2
.048
1.2
1.2
.048
P9
.048
GRLx2-x-16x26
mm
in
4.614 117.2
4.0
.157
35.0
1.378
5.0
.197
2 mm x 1.5 mm
.078
.048
2.0
1.2
NOTES:
1) ALL DIMENSIONS ARE CENTERED ON CENTERLINE OF UNIT UNLESS
OTHERWISE SPECIFIED.
6A-86
(800) 624-8511
www.phdinc.com/grl
CAT-03
SOLUTIONS FOR
OPTIONS: SERIES GRL GRIPPERS
E
The -E option is comprised of Hall Effect magnets installed in
the pistons to actuate PHD 6 mm square Hall Effect Switches. PHD
Hall Effect Switches and mounting kits are required in addition to
the -E option and are sold separately. See charts below for switches
and mountings.
GRL 14 mm
BORE UNITS
SENSE ON CLOSE
SENSE ON OPEN
GRL 16 mm
BORE UNITS
5
HS4 HEX WIDTH
HS3
HS2
3
1
(J3)
HS1
4
6A
(B2)
2
6
NOTE: MAXIMUM FITTING DIAMETER
IS Ø .394 [Ø 10.0 ] WHEN USED WITH
PHD HALL SWITCHES.
-E HALL SWITCH READY
LETTER
DIM
(B2)
(J3)
HS1
HS2
HS3
HS4 HEX
GRLx2-x-14x7
mm
in
19.0
.748
1.162 29.5
6 mm SQUARE
13.0
.511
10.7
.420
2.5 mm
MODEL NUMBER
GRLx2-x-14x13
GRLx2-x-16x20
mm
in
mm
in
19.0
.748
22.2
.874
1.162 29.5
1.281 32.5
6 mm SQUARE
6 mm SQUARE
13.0
.511
15.5
.611
10.7
.420
10.7
.420
2.5 mm
2.5 mm
GRLx2-x-16x26
mm
in
22.2
.874
1.281 32.5
6 mm SQUARE
15.5
.611
10.7
.420
2.5 mm
PART NO. COLOR
DESCRIPTION
55803-1-02 Yellow
55804-1-02
Red
55823-1
55824-1
Red
HALL EFFECT SWITCH MOUNTING KIT
PART NO.
DESCRIPTION
68487-1
Switch Mounting Kit
Each mounting kit contains:
1 6 mm square switch bracket
1 mounting screw
6A-87
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grl
APPLICATIONS & CONCEPTS: SERIES GRL GRIPPERS
MULTIPLE PART TRANSFER
In this application example the narrow profile long stroke capability of
this gripper allows for multiple parts to be transferred simultaneously. Four
of the preformed cosmetic case shells are grasped and placed into a forming
die. The forming die coins and tapers the end of the shell to form the final
case. Due to the long jaw travel, the gripper is able to grasp the part before
and after it is formed. The finished parts are then transferred to the next
operation.
4 narrow grippers
side by side
6A
Illustrations shown are for concept only. Other variations
include:
Smaller or larger bore sizes and strokes
Stroke adjustment on open
Fluid compatibility
Alternate materials
Contact PHD, Inc. with your product
requirements.
SPRING
CLOSE
END
PORT
ALTERNATE
JAW STYLE
ALTERNATE
JAW STYLE
ADDITIONAL
MOUNTINGS AND
MANIFOLD
SEALED
UNIT
6A-88
(800) 624-8511
www.phdinc.com/grl
CAT-03
SOLUTIONS FOR
6A
NOTES
6A-89
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grl
(800) 624-8511
CAT-03
SYNCHRONIZATION
0 - Non-synchronized
1 - Synchronized
STANDARD
PORT
LOCATION
TYPE
Wide Body Parallel
HALL EFFECT SWITCH MOUNTING KITS
KIT NUMBER
SIZE STANDARD PLATING -Z1 PLATING
16
68446-16-20
68467-16-20
25
68446-25-53
68467-25-53
32
68446-32-65
68467-32-65
40
68446-40-91
68467-40-91
50
68446-50-117
68467-50-117
OPEN POSITION
CLOSED POSITION
TOTAL JAW TRAVEL =
(OPEN POSITION - CLOSED POSITION)
MANIFOLD
LOCATION
37 OPTIONAL:
MANIFOLD
LOCATION
99 OPTIONAL:
F
NE
E
D
CUSTOM GRIPPERS ARE AVAILABLE.
PLEASE CONSULT PHD.
TO
PRO
D
S
CT
U
IT
M
O
NOTE:
1) Design number dictates imperial or metric
NOMINAL TOTAL JAW TRAVEL
mm (in)
20 (.79)
53 (2.09)
65 (2.56)
91 (3.58)
117 (4.61)
PROXIMITY SWITCH MOUNTING KITS
KIT NUMBER
65710-16-20
16
68465-16-20
65710-25-53
25
68465-25-53
65710-32-65
32
68465-32-65
68457-40-91
40
68466-40-91
68457-50-117
50
68466-50-117
BORE SIZE
Diameter
mm (in)
16 (.630)
25 (.984)
32 (1.260)
40 (1.575)
50 (1.969)
PART NUMBER COLOR
DESCRIPTION
55803-1-02
Yellow NPN (Sink) 4.5-24 VDC, 2 meter cable
55804-1-02
Red
55823-1
55824-1
Red
JAW
Style 3
(40 & 50 mm BORE UNITS)
PART NUMBER
DESCRIPTION
PART NUMBER
DESCRIPTION
(16, 25 & 32 mm BORE UNITS)
PRODUCT LINE
G - Gripper
G R W 1 3 - 1 - 16 x 20 - L11-UB99
SERIES
Regular Duty
MANIFOLD OPTIONS
UNIT OPTIONS
Z1 - Corrosion resistant coating on exposed
ferrous parts except for jaw guides.
OPTIONS
CUS
T
www.phdinc.com/grw
DESIGN NO.
(See Note 1)
1 - Imperial
5 - Metric
TO ORDER SPECIFY:
6A
ORDERING DATA: SERIES GRW GRIPPERS
6A-90
SOLUTIONS FOR
BENEFITS: SERIES GRW GRIPPERS
BENEFITS
■
True parallel synchronous jaw motion simplifies jaw tooling
design.
■
Large diameter jaw guides supported through the length of the
body provide superior jaw stability, long allowable tooling
lengths, and high moment capability.
■
Standard shock pads at both ends of jaw travel provide quiet
operation and absorb impact.
■
applications.
■
Specially formulated piston and rod seals provide long
service life.
■
Optional manifold porting available on either of the two
standard mounting surfaces.
■
Optional 4 mm and 8 mm round inductive proximity switches
or 6 mm square Hall Effect switches are available for indication
of jaw position and simple interfacing to electronic system
controls.
■
Units can be field converted to a non-synchronous version.
■
Units are fully field repairable.
PATENT PENDING
Anodized Aluminum Jaw
Hard Chrome Plated Steel Jaw Guides
Removable Synchronizer
6A
External Shock Pads
Standard units
are Hall Effect
and proximity
switch ready.
Internal Shock Pads
Long-life Piston Seals
Long-life Rod Seals
Stainless Steel Piston Rod
SPECIFICATIONS
TOTAL JAW TRAVEL
UNIT WEIGHT
MAX. TOOLING LENGTH
SIZE 16
36 lb
0.79 in
0.63 in
0.69 lb
5 in
[160 N]
[20 mm]
[16 mm]
[0.3 kg]
[125 mm]
SIZE 25
SIZE 32
SIZE 40
90 lb [400 N]
170 lb [756 N]
207 lb [921 N]
2.09 in [53 mm]
2.56 in [65 mm]
3.58 in [91 mm]
0.98 in [25 mm]
1.26 in [32 mm]
1.57 in [40 mm]
2.5 lb [1.1 kg]
5.3 lb [2.4 kg]
11.2 lb [5.1 kg]
8 in
[200 mm]
14 in [350 mm]
18 in
[450 mm]
SIZE 50
429 lb
4.61 in
1.97 in
22.1 lb
24 in
[1908 N]
[117 mm]
[50 mm]
[10.0 kg]
[600 mm]
6A-91
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grw
DIMENSIONS: SERIES GRW GRIPPERS
16
LETTER
mm
in
DIM
NOM TRAVEL
10.0
.394
PER JAW
73.7
2.900
A CLOSED*
93.0
3.660
A OPEN*
32.0
1.260
B1
41.3
1.625
B2
50.5
1.987
B3
1.6
.063
B4
8.0
.315
B5
8-32 thru M4 x 0.7 thru
J1
DIMENSIONS SHOWN APPLY TO ALL SIZES UNLESS
NOTED OTHERWISE, SEE OTHER VIEWS FOR SIZE
DEPENDENT FEATURES
6
CL
B2
(BODY)
J10
(JAW)
J11
5
J2
.1283 thru
3.0 thru
J3
J4
J5
J6
J7
J8
J9
J10
J11
J12
K1
.750
1.250
.700
.187
.438
.813
1.200
1.575
.025
.394
8-32 x
.200 DP
.1283 x
.188 DP
.750
1.250
.813
.157
.236
.394
.750
1.252
.098
.630
8-32 x
.280 DP
.1283 x
.188 DP
N/A
10-32
.118
N/A
N/A
.551
.945
19.05
31.8
17.8
4.7
11.1
20.7
30.5
40.0
.6
10.0
M4 x 0.7 x
5.0 DP
3.0 x
5.0 DP
19.1
31.8
20.7
4.0
6.0
10.0
19.1
31.8
2.5
16.0
M4 x 0.7 x
7.0 DP
3.0 x
6.0 DP
N/A
M5 x 0.8
3.0
N/A
N/A
14.0
24.0
K2
K3
K4
K5
K6
K7
K8
K9
K10
K11
K12
K13
3
CL
J9
CL (JAW) 2
4 B1
K14
6A
1
4X Ø B5 (JAW GUIDE)
K15
P1
P2
P3
P4
P5
P6
SIZE
32
25
in
mm
1.043
26.5
5.380
136.7
7.380
187.5
1.790
45.5
2.244
57.0
3.201
81.3
.063
1.6
.472
12.0
10-32 x M5 x 0.8
.500 DP x 13.0 DP
.1908
5.0
x .500 DP x 13.0 DP
1.000
25.40
1.625
41.3
.875
22.2
.188
4.8
.500
12.7
1.000
25.4
1.654
42.0
2.158
54.8
.033
.8
1.028
26.1
10-32 x M5 x 0.8
.250 DP x 6.3 DP
.1283 x
4.0
.250 DP x 6.0 DP
.787
20.0
2.000
50.8
.738
18.75
.625
15.88
N/A
N/A
1.250
31.75
.750
19.05
2.250
57.15
N/A
N/A
.895
22.7
10-32 x M5 x 0.8
.375 DP x 9.0 DP
.1283 x
4.0
.250 DP x 6.0 DP
N/A
N/A
10-32
M5 x 0.8
N/A
N/A
1.260
32.0
1.260
32.0
.768
19.5
1.398
35.5
in
1.280
6.730
9.230
2.362
2.874
3.929
.125
.630
1/4-20
x .750 DP
.1908
x .500 DP
1.250
2.125
1.188
.250
.687
1.312
2.240
2.795
.040
1.275
1/4-20
x .354 DP
.1908
x .440 DP
.750
2.000
1.042
.750
N/A
N/A
1.000
2.000
N/A
1.181
1/4-20 x
.492 DP
.1908
x .440 DP
N/A
1/8 NPT
N/A
1.000
1.592
1.161
1.673
50
40
mm
in
1.791
32.5
9.125
170.9
12.625
234.4
2.913
60.0
3.504
73.0
5.390
99.8
.125
3.2
.787
16.0
5/16-18
M6 x 1.0
x 19.0 DP x 1.000 DP
.1908
5.0
x 13.0 DP x .500 DP
1.312
31.75
2.250
54.0
1.625
30.2
.500
6.35
.968
17.45
1.625
33.3
2.835
56.9
3.400
71.0
.040
1.0
1.735
32.4
M6 x 1.0 x 1/4-20 x
.472 DP
9.0 DP
.1908 x
5.0
.440 DP
x 11.0 DP
N/A
19.05
2.500
50.8
1.150
26.5
1.125
19.05
.563
N/A
N/A
N/A
1.250
25.40
2.500
50.8
N/A
N/A
1.457
30.0
M6 x 1.0 5/16-18 x
.561 DP
x 12.5 DP
.1908 x
5.0
.440 DP
x 11.0 DP
N/A
N/A
1/8 NPT
1/8 BSP
N/A
N/A
1.868
25.4
2.245
40.4
1.301
29.5
2.069
42.5
mm
in
mm
45.5
231.8
320.7
74.0
89.0
136.9
3.2
20.0
M8 x 1.25
x 25.0 DP
5.0
x 12.5 DP
33.32
57.2
41.3
12.7
24.6
41.3
72.0
86.4
1.0
44.1
M6 x 1.0 x
12.0 DP
5.0 x
11.0 DP
N/A
63.5
29.2
28.6
14.3
N/A
31.8
63.5
N/A
37.0
M8 x 1.25
x 14.0 DP
5.0 x
11.0 DP
N/A
1/8 BSPP
N/A
47.4
57.0
33.0
52.6
2.303
11.645
16.157
3.543
4.528
6.932
.238
.984
3/8-16 x
1.000 DP
.3158
x .512 DP
2.375
3.375
1.660
.282
.782
1.969
3.425
4.429
.040
2.105
5/16-18 x
.551 DP
.3158 x
.500 DP
3.000
5.500
1.594
1.340
.670
2.500
4.000
5.118
N/A
1.772
3/8-16 x
.709 DP
.3158 x
.500 DP
1.024
1/8 NPT
N/A
2.639
2.931
1.713
2.697
58.5
295.8
410.4
90.0
115.0
176.1
6.0
25.0
M10 x 1.5
x 25.0 DP
8.0
x 13.0 DP
60.33
85.7
42.2
7.2
19.9
50.0
87.0
112.5
1.0
53.5
M8 x 1.25
x 14.0 DP
8.0 x
12.5 DP
76.2
139.7
40.5
34.0
17.0
63.5
101.6
130.0
N/A
45.0
M10 x 1.5
x 18.0 DP
8.0 x
12.5 DP
26.0
1/8 BSPP
N/A
67.0
30.0
43.5
68.5
5
2X P1 PORT
WITH SPOTFACE
SIZE 25 AND
LARGER
P4
P3
P2
CL
CLOSE
CLOSE
2X P1 PORT WITH
SPOTFACE
SIZE 16
4X J1 THD
J6
J7
P5
P6
J8
J3 J4
OPEN
OPEN
J5
J5/2
CL
SEE SENSOR OPTION
FOR STANDARD
SENSOR
MTG DIMENSIONS
2X J2 ± .0005
[H7] DOWEL PIN
HOLE
B3
B4
2X J12
NOMINAL TRAVEL PER JAW
A CLOSED*
A OPEN
+2.54
-.000
6
NOTES:
3) METRIC INFORMATION SHOWN IN [ ]
4) UNMARKED HOLES ARE USED FOR PHD MANUFACTURING, CONTACT PHD IF
DIMENSIONAL INFORMATION IS REQUIRED
*A CLOSED REFLECTS THE LARGEST POSSIBLE CLOSED DIMENSION
A OPEN REFLECTS THE SMALLEST POSSIBLE OPEN DIMENSION
6A-92
(800) 624-8511
www.phdinc.com/grw
CAT-03
SOLUTIONS FOR
MOUNTING DIMENSIONS: SERIES GRW GRIPPERS
SIZE 16
SIZE 25
K4
K3
6
K4
5X K1 THD
CL
K3
6
K6
K7
8X K1 THD
CL
K6
K5
K5
2X K2 ± .0005
[H7] DOWEL PIN HOLE
5
2X K2 ± .0005
[H7] DOWEL PIN HOLE
5
K9
K11
3
2X K14 ± .0005
[H7] DOWEL PIN HOLE
CL
3
(K12)
K9
CL
2X K14 ± .0005
[H7] DOWEL PIN HOLE
(K12)
CL
4
2
K11
K8
1
CL
4
1
4X K13 THD
K8
SIZE 40
K4
K3
CL
6
4X K13 THD
K10
K10
SIZE 32
2
8X K1 THD
K4
CL
6
K6
6X K1 THD
K6
K5
K7
K5
2X K2 ± .0005
[H7] DOWEL PIN HOLE
5
K9
CL
2X K14 ± .0005
[H7] DOWEL PIN HOLE
3
(K12)
CL
K9
2X K14 ± .0005
[H7] DOWEL PIN HOLE
6A
3
2X K2 ± .0005
[H7] DOWEL PIN HOLE
5
(K12)
CL 2
4
K10
SIZE 50
1
CL 2
4
K10
3X K13 THD
1
3X K13 THD
K4
10X K1 THD
K3
CL
6
K7
K6
K5
2X K2 ± .0005
[H7] DOWEL PIN HOLE
5
3
K9
CL
2X K14 ± .0005
[H7] DOWEL PIN HOLE
(K12)
CL 2
4
K15
K8
K10
1
6X K13 THD
6A-93
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grw
ENGINEERING DATA: SERIES GRW GRIPPERS
SPECIFICATIONS
SIZE
16
25
32
40
50
NOMINAL
TOTAL JAW
TRAVEL
in mm
0.79 20
2.09 53
2.56 65
3.58 91
4.61 117
TOTAL CLOSE
GRIP FORCE AT
87 psi [6 bar]
N
lb
36 160
90 400
170 756
207 921
429 1908
GRIPPER
WEIGHT
kg
lb
0.69 0.3
2.5 1.1
5.3 2.4
11.2 5.1
22.1 10.0
CLOSE OR
OPEN TIME
87 psi [6 bar]
sec
0.09
0.14
0.24
0.30
0.60
EXTERNAL
INTERNAL
DISPLACEMENT GRIP
GRIP
in3
cm3
Imperial metric
Imperial metric
26
31
0.41
0.49
0.25 4.0
66
78
1.03
1.21
1.59 26
126
140
1.96
2.17
3.19 52
154
168
2.38
2.61
7.0 114
318
354
4.93
5.49
14.0 229
SEALS AND FLUIDS
Long life seals are standard on all Series GRW Grippers. These
consult PHD.
close to the body surface as possible. As the grip point is moved
away from the body surface, the applied moment causes jaw friction
to increase, resulting in reduced effective grip force. The Grip Force
Factor (GF) values given in the specifications chart above are for zero
tooling length (body surface). The charts below show how grip force
decreases as the grip point is moved
from the body surface. The derating
factors and maximum tooling
Body
Surface
Tooling
lengths are included in the graphs
Length
on page 6A-95.
TEMPERATURE LIMITS
LIFE EXPECTANCY
PART
All standard units have been designed and tested for a
minimum of 5 million trouble free cycles, with minimal wear.
SIZE 16, 25 & 32
1.0
LUBRICATION
Gripper body is made of hardcoated aluminum. Jaws are
anodized aluminum and jaw guides are hard chrome plated steel.
0.7
0.6
0.5
0.4
0.3
0.2
MAX
TOOLING
LENGTH
0.1
MAX
TOOLING
LENGTH
MAX
TOOLING
LENGTH
0.0
0
SPECIAL GRIPPERS
2
[50]
4
[100]
6
[150]
8
[200]
10
[250]
12
[300]
14
[350]
16
[400]
SIZE 40
1.0
0.9
0.0
0
F
A
My
Mx
10
[250]
12
[300]
14
[350]
16
[400]
18
[450]
SIZE 50
0.8
MAX
TOOLING
LENGTHS
0.7
0.6
0.5
0.4
0.3
0.2
0.1
0.0
0
My
8
[200]
0.9
SIDE VIEW
Body
Surface
6
[150]
1.0
Mz
Body
Surface
4
[100]
When calculating values for Mx, My, and Mz, include the grip force per jaw, tooling weight, part weight,
external forces, and acceleration as applicable. When calculating the value for FA, include weight of
tooling, part weight, acceleration, and external forces.
FRONT VIEW
2
[50]
at 40 psi [3 bar]
0.1
SIZE 50
in-lb Nm
2600 11565
900 101
1800 202
2640 298
5280 596
2640 298
5280 596
Mx, My, Mz: Moment allowables, with moments measured from the body surface.
TOP VIEW
0.2
at 40 psi [3 bar]
SIZE 40
in-lb Nm
1400 6225
390 44
780 88
1100 124
2200 248
1100 124
2200 248
0.3
at 60 psi [4 bar]
SIZE 32
in-lb Nm
550 2445
300 34
600 68
790 89
1580 178
790 89
1580 178
0.4
at 80 psi [5.5 bar]
SIZE 25
in-lb Nm
150 670
100 11
200 22
285 32
570 64
285 32
570 64
0.5
at 100 psi [7 bar]
SIZE 16
in-lb Nm
60 270
FA Total both jaws
5
45
Mz Per Jaw
Total Both Jaws (2 x Mz) 90 10
100 11
My Per Jaw
Total Both Jaws (2 x My) 200 22
100 11
Mx Per Jaw
Total Both Jaws (2 x Mx) 200 22
0.6
at 60 psi [4 bar]
MAX. ALLOWABLE FORCES AND MOMENTS ON GRIPPER JAWS
MAX
TOOLING
LENGTHS
0.7
at 80 psi [5.5 bar]
Grip repeatability is within ± .001 [± .025 mm] of the original
position.
0.8
at 100 psi [7 bar]
DERATING FACTOR
REPEATABILITY
DERATING FACTOR
6A
SIZE 32
MATERIAL
0.8
SIZE 25
SIZE 16
DERATING FACTOR
0.9
Body
Surface
2
[50]
4
6
8
10
12
14
16
18
20
22
24
[100] [150] [200] [250] [300] [350] [400] [450] [500] [550] [600]
Mx
6A-94
(800) 624-8511
www.phdinc.com/grw
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRW GRIPPERS
GRIP FORCE
Total gripping force relative to tooling length is
shown below at the stated actuating pressure. Grip
force per jaw equals the total grip force divided by two.
The chart also indicates the maximum tooling length for
each gripper size.
SIZE 16, 25, 32
87 psi [6 bar]
200
[890]
180
[801]
Tooling
Length
160
[712]
PART
F/2
140
[623]
120
[534]
F/2
SIZE 32 OPEN
SIZE 32 CLOSE
100
[445]
SIZE 25 OPEN
80
[356]
SIZE 25 CLOSE
60
[267]
SIZE 16 OPEN
40
[178]
0
MAX
TOOLING
LENGTH
SIZE 16 CLOSE
20
[89]
0
2
[50]
4
[100]
6
[150]
MAX
TOOLING
LENGTH
8
[200]
MAX
TOOLING
LENGTH
10
[250]
12
[300]
14
[350]
16
[400]
250
[1112]
SIZE 40
200
[890]
NOTE: Maximum
SIZE 40 OPEN, 87 psi [6 bar]
150
[667]
SIZE 40 CLOSED, 87 psi [6 bar]
100
[445]
MAX
TOOLING
LENGTH
at 87 psi [6 bar]
50
[222]
0
MAX
TOOLING
LENGTH
at 40 psi [3 bar]
0
2
[50]
4
[100]
6
[150]
8
[200]
10
[250]
12
[300]
14
[350]
16
[400]
18
[450]
SIZE 50
500
400
6A
[2224]
[1779]
300
[1334]
MAX
TOOLING
LENGTH
at 87 psi [6 bar]
200
[890]
NOTE: Maximum
100
MAX
TOOLING
LENGTH
at 40 psi [3 bar]
[445]
0
0
2
[50]
4
[100]
6
[150]
8
[200]
10
[250]
12
[300]
14
[350]
16
[400]
18
[450]
20
[500]
22
[550]
24
[600]
TOTAL GRIP FORCE lb [N] = Pressure psi [bar] x GF x Tooling Length Factor
GRW13-1-25-53 [GRW13-5-25-53]
External Grip
Find Grip Force Factor GF = 1.03 [66.4] (from Specifications chart, page 6A-94)
Find Tooling Length Factor = 0.64 [0.64] (See Tooling Length Factor graph)
(Tooling Length of 6 in [150 mm] ➜ 0.64 [0.64])
Total Grip Force = 87 psi x 1.03 x .64 = 57 lb [6 bar x 66.4 x .64 = 255 N]
Tooling Length =
6 in [150 mm]
F/2
PART
F/2
6A-95
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grw
OPTIONS: SERIES GRW GRIPPERS
L11-UB99
L11-UB37
With this option the gripper is configured for manifold
mounting on one of the two standard mounting surfaces, according
to the selected option code. The standard ports are plugged. O-ring
seals are provided for mounting between the gripper and the manifold.
MANIFOLD REPLACEMENT KIT NUMBER
SIZE 32
SIZE 25
TYPE
SIZE 40
SIZE 16
65709-32-1-1
65709-25-1-1
IMPERIAL 65709-16-1-1
65709-40-1-1
65709-32-5-1
65709-25-5-1
65709-40-5-1
65709-16-5-1
METRIC
Manifold kit includes port plugs and o-rings.
MANIFOLD
OPTION
L11-UB99
MANIFOLD OPTION
L11-UB37
SIZE 50
65709-50-1-1
65709-50-5-1
A CLOSED
MANIFOLD
OPTION
L11-UB37
P11
CL
6
P15
CUSTOMER
SUPPLIED
MANIFOLD
GRIPPER
Ø P12
Ø P13 Ø P14
SEE NOTE 2
(B2)
O-RING I.D.
P10
CLOSED
O-RING
5
MANIFOLD Ø
OPEN
P7
MANIFOLD
OPTION
L11-UB99
FOR CUSTOMER USE
MANIFOLD Ø
SIZES LARGER
THAN SIZE 16
CL
3
2
P8
6A
CL
LETTER
16
mm
in
DIM
15.9
.625
P7
—
—
P8
—
—
P9
14.7
.577
P10
17.0
.670
P11
6.0
.236
P12
P12 O-RING
3 mm x 1.5 mm
(I.D. x T)
7.0
.276
P13
P13 O-RING
4 mm x 1.5 mm
(I.D. x T)
2.5
.098
P14
1.2
.048
P15
32.0
1.260
(B1)
41.3
1.625
(B2)
73.7
2.900
A CLOSED
(B1)
4
CLOSED
1
OPEN
MANIFOLD Ø
SIZE 16 ONLY,
SEE NOTE 2
P9
5
6
Z1
SIZE
32
25
in
1.266
.138
.138
1.050
1.266
.197
mm
32.2
3.5
3.5
26.7
32.2
5.0
2 mm x 1.5 mm
See Note 2
See Note 2
.080
.048
1.790
2.244
5.380
2.0
1.2
45.5
57.0
136.7
in
1.590
.177
.236
1.417
1.590
.236
40
mm
40.4
4.5
6.0
36.0
40.4
6.0
in
2.245
.197
.335
1.713
2.245
.276
50
mm
57.0
5.0
8.5
43.5
57.0
7.0
3 mm x 1.5 mm 4 mm x 1.5 mm
See Note 2
See Note 2
.098
.048
2.362
2.874
6.729
2.5
1.2
60.0
73.0
170.9
See Note 2
See Note 2
.125
.048
2.913
3.504
9.125
3.2
1.2
74.0
89.0
231.8
in
2.931
.236
.236
1.969
2.931
.276
mm
74.4
6.0
6.0
50.0
74.4
7.0
4 mm x 1.5 mm
See Note 2
See Note 2
.125
.048
3.543
4.528
11.645
3.2
1.2
90.0
115.0
295.8
NOTES:
2) USE P12 FOR ALL UNITS EXCEPT SIZE 16 WITH MANIFOLD OPTION IN LOCATION 99. FOR THIS UNIT
ONLY, ONE MANIFOLD ORIFICE IS LOCATED IN A MOUNTING THREAD (SEE OPTION ILLUSTRATION)
AND REQUIRES THE P13 DIAMETER.
3) CIRCLED NUMBERS INDICATE POSITION.
CORROSION RESISTANT
This option provides appropriate corrosion resistant coating on
all ferrous parts except jaw guides.
6A-96
(800) 624-8511
www.phdinc.com/grw
CAT-03
SOLUTIONS FOR
PROXIMITY SWITCH KIT
This kit equips the gripper with brackets to provide for the
mounting of up to two 4 mm round proximity switches. Proximity
switches must be ordered separately.
PROXIMITY SWITCH MOUNTING KITS
KIT NUMBER
65710-16-20
16
68465-16-20
65710-25-53
25
68465-25-53
65710-32-65
32
68465-32-65
68457-40-91
40
68466-40-91
68457-50-117
50
68466-50-117
PART NUMBER
DESCRIPTION
(40 & 50 mm BORE UNITS)
DESCRIPTION
PART NUMBER
Each kit includes 1 target bracket, 2 switch mounting
brackets, and socket head cap screws for mounting.
OPEN POSITION
CLOSED POSITION
JAWS IN CLOSED POSITION
(B1)
PS5
PS6
6A
PS8 HEX SIZE
APPROXIMATE
LED LOCATION
PS7
(B2)
PS4
PS9 HEX SIZE
A
PS3 MAX
Ø PS1
PS2 MAX
SENSING
DISTANCE
DETAIL A
LETTER
DIM
PS1
PS2
PS3
PS4
PS5
PS6
PS7
PS8
PS9
(B1)
(B2)
16
25
SIZE
32
mm
in
4 mm ROUND
.5
.020
6.73
.265
.71
.028
8.81
.347
17.0
.67
6.6
.26
2.0
.08
2.0
.08
1.260 32.0
1.625 41.3
mm
in
4 mm ROUND
.5
.020
3.81
.150
2.54
.100
8.81
.347
7.4
.29
16.3
.64
2.0
.08
2.5
.10
1.790 45.5
2.244 57.0
mm
in
4 mm ROUND
.5
.020
6.35
.250
1.70
.067
8.81
.347
N/A
N/A
27.4
1.08
2.0
.08
2.5
.10
2.362 60.0
2.874 73.0
40
in
mm
8 mm THREADED
.030
.8
.571 14.50
.140
3.56
.571 14.50
N/A
N/A
1.60
40.7
.079
2.0
.118
3.0
2.913 74.0
3.504 89.0
50
mm
in
8 mm THREADED
.8
.030
.551 14.00
3.91
.154
.571 14.50
N/A
N/A
64.8
2.55
2.0
.079
4.0
.157
3.543 90.0
4.528 115.0
6A-97
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grw
HALL EFFECT SWITCH KIT
This kit equips the gripper with brackets to provide for the
mounting of up to two 6 mm square Hall Effect switches. Hall Effect
switches must be ordered separately.
PART NUMBER COLOR
DESCRIPTION
55803-1-02
Yellow
55804-1-02
Red
55823-1
55824-1
Red
HALL EFFECT SWITCH MOUNTING KITS
KIT NUMBER
16
68446-16-20
68467-16-20
25
68446-25-53
68467-25-53
32
68446-32-65
68467-32-65
40
68446-40-91
68467-40-91
50
68446-50-117
68467-50-117
Each kit includes 1 target bracket, 2 switch mounting
brackets, and socket head cap screws for mounting.
CLOSED POSITION
OPEN POSITION
HS5 MAX
HS1
(B1)
JAWS IN CLOSED POSITION
HS6 HEX SIZE
6A
HS2
(B2)
HS4
HS7 HEX SIZE
MAGNET
LOCATION
LETTER
DIM
HS1
HS2
HS3
HS4
HS5
HS6
HS7
(B1)
(B2)
HS3 MAX
APPROXIMATE
LED LOCATION
16
25
SIZE
32
mm
in
6 mm SQUARE
9.3
.365
14.8
.581
.8
.030
11.8
.465
2.0
.079
2.0
.079
1.260 32.0
1.625 41.3
mm
in
6 mm SQUARE
15.0
.592
13.8
.543
1.8
.070
11.8
.465
2.0
.079
2.5
.098
1.790 45.5
2.244 57.0
mm
in
6 mm SQUARE
24.1
.950
14.0
.550
2.4
.096
11.8
.465
2.0
.079
2.5
.098
2.362 60.0
2.874 73.0
40
mm
in
6 mm SQUARE
2.020 51.3
.571 14.50
4.7
.184
11.8
.465
2.0
.079
3.0
.118
2.913 74.0
3.504 89.0
50
mm
in
6 mm SQUARE
2.640 67.06
.551 14.00
3.9
.154
11.8
.465
2.0
.079
4.0
.157
3.543 90.0
4.528 115.0
6A-98
(800) 624-8511
www.phdinc.com/grw
CAT-03
SOLUTIONS FOR
APPLICATIONS & CONCEPTS: SERIES GRW GRIPPERS
LOADING AND UNLOADING DEVICE FOR
AUTOMATED TUBE FINISHING
PHD Slides and Series GRW Grippers handle the escaping and pickand-place duties for the loading and unloading of tubing in this finishing
application. As a two stage process, the part is first escaped from a loading
platform using a PHD Slide (1) to the finishing machine. Next, using a dual
Series GRW grippers/slide configuration, parts are loaded (2) and unloaded
in unison from one end rolling device to the other. Then, the part is
transferred to a conveyor (3). After the process, the tubing is shaped, and
finishes are completely sealed in the last stage.
AUTOMATED DEVICE FOR PART TRANSFER
A PHD Series GRW Gripper is used to transfer a casting from an
initial drilling operation to a secondary milling operation. The long stroke,
synchronized action, and rigid guide rod construction provide the optimum
solution for this application. The large tool surfaces and high moment
capacity of the gripper allow for extended tooling lengths.
3
2
End rolling device
(on both sides of
tubes)
End rolling device
(on both sides of
tubes)
6A
1
Illustrations shown are for concept only.
Other variations include:
Stroke adjustment
Rod/shaft scrapers
Purge ports
Alternate port locations
Fluid compatibility
SPRING
CLOSE
SHOCK ON
CLOSE
Contact PHD, Inc. with your product requirements.
ALTERNATE
JAW STYLE
ALTERNATE
JAW STYLE
SINGLE JAW
6A-99
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grw
(800) 624-8511
CAT-03
TYPE
Long Travel,
High Capacity,
Parallel Gripper
JAW
Style 2
TOTAL JAW TRAVEL
200 - 200 mm or 7.874 in
SEALS
Blank - STD Nitrile Seals
V1 - Fluoro-Elastomer
TO
NE
PRO
D
E
D
S
CT
U
IT
M
O
UNIT DESCRIPTION
GRR12-5-50-200-GR13-L9
GRR12-5-50-200-GR13-L9
GRR12-5-50-200-L9
GRR12-5-50-200-L9-H47
THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKETS
8 mm
12 mm
CORROSION RESISTANT
CORROSION RESISTANT
SWITCH
SWITCH
8 mm SWITCH
12 mm SWITCH
69255-1
69256-1
69255-2
69256-2
Kit includes 1 proximity switch mounting bracket, 1 mounting nut bracket,
and 1 mounting screw bracket.
ML NUMBER
216704
222640
225410
300128
CUSTOM JAW TRAVELS AND SIZES ARE AVAILABLE. PLEASE CONSULT PHD.
REPAIR AND SEAL KITS
PART NUMBER DESCRIPTION
67508
Repair Kit
67509
Seal Kit
67510
-V1 Repair Kit
67511
-V1 Seal Kit
NOTE:
1) Design number indicates imperial or metric
mounting holes. Dowel pin holes are metric
regardless of design number.
BORE SIZE
THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS
STANDARD CORROSION RESISTANT
68549-1
68549-2
Kit includes 1 proximity target and 1 target
mounting screw.
PART NUMBER
DESCRIPTION
PART NUMBER
DESCRIPTION
15561-001
15561-002
15561-003
PRODUCT LINE
G - Gripper
ML TO GRR CROSS REFERENCE CHART
CORROSION RESISTANT
Z1 - Electroless Nickel all external ferrous
parts (leave blank if not needed)
G R R 1 2 - 5 - 50 x 200 - L9 - Z1 - V1
SYNCHRONIZATION
1 - Synchronized
OPTIONS
GR13 - Side Mounting Holes
H47 - Rodlok®
L9 - NPT Ports (metric units only)
L7 - BSPP Ports (imperial units only)
(leave blank if not needed)
CUS
T
www.phdinc.com/grr
SERIES
Regular Duty
DESIGN NO.
(See Note 1)
1 - Imperial
5 - Metric
TO ORDER SPECIFY:
6A
ORDERING DATA: SERIES GRR GRIPPERS
F
6A-100
SOLUTIONS FOR
BENEFITS: SERIES GRR GRIPPERS
BENEFITS
■
Narrow width and long jaw travel for a wide range of
applications with limited space.
■
Rugged design withstands high impact and shock loads.
■
Dual, large diameter jaw guides provide low jaw deflection,
high moment capacities, rugged performance, and long life.
■
True parallel jaw motion simplifies jaw tooling design and is
ideal for gripping parts of varying size.
■
applications.
■
Rack and pinion jaw synchronization provide minimal
backlash. The rack is enclosed, protecting the mechanism
from debris.
■
Jaws and body feature dowel pin holes for accurate tooling
location.
■
TC fluoropolymer composite guide shaft bushings provide long
life and high grip force.
■
Optional Rodlok® locks the jaws in a stationary position in the
event air pressure is lost.
■
Proximity switches are available for indication of jaw position
and interfacing to a system controller.
SERIES GRR
One integral pneumatic cylinder for each gripper jaw
30 psi min. to 100 psi max. at zero load [2 bar min. to 7 bar max.]
-20° to +180°F [-29° to 82°C]
Permanent for Non-lubricated or Lubricated Air
Hardened & Ground Steel
TC Fluoropolymer Composite
Hardcoated Aluminum Alloy
Anodized Aluminum Alloy
460 lb [2046 N]
7.87 in [200 mm]
1.97 in [50 mm]
36.6 lb [16.6 kg]
20 in [508 mm]
H7 class fit
6A
SPECIFICATIONS
POWER SOURCE
TEMPERATURE RANGE
LUBRICATION
GUIDE SHAFTS
BEARINGS
JAWS
BODY
TOTAL JAW TRAVEL
UNIT WEIGHT
MAX. TOOLING LENGTH AT 100 psi [7 bar]
DOWEL PIN HOLES (JAWS)
6A-101
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grr
DIMENSIONS: SERIES GRR GRIPPERS
B1
A CLOSED
A OPEN
J9
J4
J4
3
J5
J5
2 B2 J3
4
1
4X J7
DOWEL PIN HOLE
B4
8X J6 THREAD
(WITH THREADED
INSERTS)
2X Ø B7 SECONDARY SHAFT
J1
B8
B5
Ø B6 PRIMARY SHAFT
P3
6
*P1 PORT
(PLUGGED)
P1 PORT
(OPENS JAWS)
P1 PORT
(CLOSES JAWS)
SW5
P4
J2
B9
J8
6A
P5
SW4 SLOT
FOR OPTIONAL
PROXIMITY
SWITCH
B3
5
MOUNTING
*P1 PORT
SW6
(PLUGGED)
SW3 SLOT
SW2
FOR OPTIONAL
PROXIMITY SWITCH
MOUNTING
GRR12-x-50
SW1 THREAD
LETTER
(MOUNTING
mm
DIM
in
B1 /2
FOR OPTIONAL
429.8
A OPEN
16.923
PROXIMITY
2X K5
229.8
A CLOSED
9.049
SWITCH TARGET)
539.8
B1
21.251
2X K4
88.9
B2
3.500
P6
2X K3
90.0
B3
3.544
K1
25.4
B4
1.000
P7
25.4
B5
1.000
31.8
B6
1.250
P8
K2
19.1
B7
.750
101.6
B8
4.000
4X P2 PORT*
158.8
B9
6.250
K6
(PLUGGED)
12X K8 THREAD
130.2
J1
5.125
3X
K9
±
.0005
K7
(WITH THREADED INSERTS)
88.9
J2
3.500
[± .013]
60.0
J3
2.362
DOWEL PIN HOLE
90.0
J4
3.544
45.0
J5
1.772
J6
1/2-13 x 1.000 DP M12 x 1.75 x 24 DP
J7
.4727 x .750 DP (H7) 12.0 x 19.0 DP (H7)
161.9
J8
6.375
*PLUGGED PORTS, P1 & P2, CAN BE USED FOR GRIPPER ACTUATION.
29.6
J9
1.164
NOTES:
22.5
K1
.886
45.0
K2
1.773
1) SEE PAGE 6A-106 FOR GR13 SIDE MOUNTING OPTION DIMENSIONS.
25.4
K3
1.000
25.4
K4
1.000
54.1
K5
2.130
30.0
K6
1.181
60.0
K7
2.362
M8 x 1.25 x 16 DP
K8
3/8-16 x .750 DP
8.0 x 19.0 DP
K9
.3168 x .750 DP
SW1
M8 x 1.25 x .625 DP M8 x 1.25 x 15.8 DP
246.1
SW2
9.688
11.3
SW3
.444
21.3
SW4
.840
53.3
SW5
2.100
48.3
SW6
1.900
1/4 BSPP
P1
1/4 NPT
1/8 BSPP
P2
1/8 NPT
8.7
P3
.344
114.3
P4
4.500
85.7
P5
3.375
8.7
P6
.344
9.5
P7
.375
19.1
P8
.750
6A-102
(800) 624-8511
www.phdinc.com/grr
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES GRR GRIPPERS
PRESSURE RATINGS
TEMPERATURE LIMITS
Operating pressure range for the Series GRR Gripper is 30 psi
[2 bar] minimum to 100 psi [7 bar] maximum.
Series GRR Grippers are designed for use in temperatures
between -20° to 180°F [-29° to 82°C]. For temperatures outside this
range, consult PHD.
SEALS AND FLUIDS
MAINTENANCE
Buna-N seals are standard on all Series GRR Grippers. Piston
seals are long life Buna-N and rod seals are lip type Buna-N. All
consult PHD.
Common with most PHD products, Series GRR Grippers are
fully field repairable. Repair kits, seal kits, and main structural
components are available as needed for extended service life.
REPEATABILITY
LUBRICATION
Jaw position repeatability is within .002 inch [.05 mm] of
original centered position.
All units are prelubricated at the factory for service under
normal operating conditions. The Series GRR Grippers can be used
with non-lubricated air; however, the use of lubricated air will
extend service life.
START-UP PROCEDURES
The Series GRR Gripper should be securely mounted with all
tooling and external flow control devices attached prior to applying
pressure to unit. Care should be taken to provide adequate
clearance for the jaws to open and close. At initial start-up, apply
pressure slowly to the unit.
MATERIAL SPECIFICATIONS
The gripper body is anodized aluminum alloy and the gripper
jaws are hardcoated aluminum alloy. The guideshafts are ground
and hardened steel and the rods are stainless steel. Miscellaneous
components are made from steel, delrin, aluminum, or bronze.
LIFE EXPECTANCY
6A
All standard units with Buna-N seals have been designed for a
minimum of 5 million trouble free cycles, with minimal seal wear
and backlash.
MAXIMUM ALLOWABLE FORCES AND
MOMENTS ON GRIPPER JAWS
Fa
Mz
Fa
MODEL
NUMBER
lb
N
GRR12-x-50 2200 9786
Mx
in-lb Nm
5000 565
My
in-lb Nm
5000 565
Mx
Mz
in-lb Nm
5400 610
NOTE:
1)Fa: total for both jaws
2)Mx: per jaw, with moments measured from jaw mounting surface
My: per jaw, with moments measured from geometric center of jaw
Mz: per jaw, with moments measured from jaw mounting surface
My
6A-103
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grr
ENGINEERING DATA: SERIES GRR GRIPPERS
GRIP FORCE SPECIFICATIONS
Total gripping force relative to tooling length at 87 psi [6 bar]
actuating pressure is shown in the graph below. Grip force per jaw
equals the total grip force divided by two. The graph, in combination
with the gripper specification chart, can be used to determine the
grip force and maximum tooling length for the Series GRR gripper.
Distance From
Jaw Surface
PART
SPECIFICATIONS
MODEL
DISPLACEMENT
NUMBER
cm3
in3
GRR12-x-50 24.4 399.8
GF EXTERNAL GRIP GF INTERNAL GRIP MAX TOOLING LENGTH
imperial metric imperial metric
in
mm
5.28
340.4
4.94
318.6
20
508
UNIT WEIGHT
lb
kg
36.6
16.6
Calculated Grip Forces (close)
(GF x Pressure x Tooling Length Derating Factor)
600
[2669]
Tooling Length Derating Factor
100 psi
400
[1779]
87 psi
60 psi
300
[1334]
200
[890]
MAX
TOOLING
LENGTH
100
[445]
0
0.0
2.0
[50.8]
4.0
6.0
8.0
[101.6] [152.4] [203.2]
10.0
[254]
12.0
14.0
16.0
18.0
[304.8] [355.6] [406.4] [457.2]
20.0
[508]
.60
.40
MAX
TOOLING
LENGTH
.20
0
0.0
2.0
[50.8]
4.0
6.0
8.0
[101.6] [152.4] [203.2]
10.0
[254]
12.0
14.0
16.0
18.0
[304.8] [355.6] [406.4] [457.2]
20.0
[508]
Calculated Grip Forces (open)
(GF x Pressure x Tooling Length Derating Factor)
600
[2669]
.80
6A
DERATING FACTOR
1.00
500
[2224]
500
[2224]
100 psi
400
[1779]
87 psi
60 psi
300
[1334]
200
[890]
MAX
TOOLING
LENGTH
100
[445]
0
0.0
2.0
[50.8]
4.0
6.0
8.0
[101.6] [152.4] [203.2]
10.0
[254]
12.0
14.0
16.0
18.0
[304.8] [355.6] [406.4] [457.2]
20.0
[508]
GRIP FORCE CALCULATION
RECOMMENDATIONS
Design tooling so that the grip point is as close to the gripper
jaw surface as possible. When the grip point moves away, jaw
friction increases, which decreases grip force. The GF information
given on this page is for zero tooling length (jaw surface). The
graphs show how forces decrease as the grip point moves away
from the jaw mounting surface.
The maximum load that grippers can handle will vary based on:
size of the part being picked up, shape of the part, texture of the
part, speed at which the part is transferred, working pressure, shape
of the fingers, etc. PHD recommends that the fingers of jaws be
tooled or machined to conform to the shape of the part being
gripped.
Pressure (psi) x GF imperial x Tooling Length Derating Factor = Force (lb)
Gripping force is defined as the maximum value at which the
jaws will not move from their gripping position. The figures in the
Calculated Grip Forces (close) Chart are based on actual measured
results; figures may vary slightly due to friction. Gripping force is
proportional to input pressure.
Pressure [bar] x GF metric x Tooling Length Derating Factor = Force [N]
6A-104
(800) 624-8511
www.phdinc.com/grr
CAT-03
SOLUTIONS FOR
ACCESSORIES: SERIES GRR GRIPPERS
PROXIMITY SWITCHES - EXTERNAL
This 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 for complete
switch specifications.
NOTE: For Option GR13 switch information, see page 6A-106.
SW14
6
SW7
2
J2
4
SW9
5
SW11
SHOWN
AS 8mm
1 PROX
SW12
SW10
TO BOTTOM
OF TARGET
SHOWN
AS 12mm
PROX
SW8
SW13
3
PART NO.
DESCRIPTION
PART NO.
DESCRIPTION
15561-001 NPN (Sink) 24 VDC, 3 meter cable
15561-002 PNP (Source) 24 VDC, 3 meter cable
15561-003 AC 117 VAC, 3 meter cable
GRR12-x-50
in
mm
3.500
89
.875
22.2
.960
24.4
2.454 62.3
1.352 34.3
1.125
29
.322
8.2
.450
11
.900
22.9
6A
LETTER
DIM.
J2
SW7
SW8
SW9
SW10
SW11
SW12
SW13
SW14
THREADED INDUCTIVE PROXIMITY SWITCH TARGET KITS
STANDARD CORROSION RESISTANT
68549-1
68549-2
Kit includes 1 proximity target and
1 target mounting screw.
THREADED INDUCTIVE PROXIMITY SWITCH MOUNTING BRACKETS
8 mm
12 mm
CORROSION RESISTANT
CORROSION RESISTANT
SWITCH
SWITCH
8 mm SWITCH
12 mm SWITCH
69255-1
69256-1
69255-2
69256-2
Kit includes 1 proximity switch mounting bracket, 1 mounting nut bracket,
and 1 mounting screw bracket.
6A-105
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grr
OPTIONS: SERIES GRR GRIPPERS
GR13
SIDE MOUNTING HOLES
This option removes the standard bottom mounting and
provides mounting on the gripper via 4 threaded holes in both sides
of the support plate. Because of the side mounting, the proximity
switch T slots have been removed from the sides of the gripper and
are replaced by two threaded holes on the bottom of the gripper
which are designed to accept the 12 mm threaded inductive
proximity switches only.
6
2
M5
M1
M2
M3
M4
M5
4
M6
M6
M4
M3
M2
M1
5
8X M7 MOUNTING
THREAD
SW16
1
SW17
SW18
SW15
3
6A
2X SW19 THREADED PROXIMITY
SWITCH MOUNTING HOLE
PART NO.
DESCRIPTION
15561-001 NPN (Sink) 24 VDC, 3 meter cable
15561-002 PNP (Source) 24 VDC, 3 meter cable
15561-003 AC 117 VAC, 3 meter cable
GRRxx-x-50
DIM
mm
in
LETTER
57.2
2.250
SW15
90.5
3.563
SW16
358.8
14.125
SW17
16.4
.647
SW18
M12
M12
SW19
54.0
2.126
M1
142.9
5.625
M2
146.1
5.750
M3
142.9
5.625
M4
146.1
5.750
M5
15.9
.625
M6
M8 x 1.023 DP M8 x 26 DP
M7
THE 12 mm PROXIMITY SWITCHES
AND CABLES WILL EXTEND FROM
THE BOTTOM OF THE GRIPPER
2X 12 mm THREADED
PROXIMITY SWITCH
2X 12 mm THREADED
PROXIMITY SWITCH
2X M12 JAM NUT
6A-106
(800) 624-8511
www.phdinc.com/grr
CAT-03
SOLUTIONS FOR
OPTIONS: SERIES GRR GRIPPERS
H47
RODLOK®
PHD’s Rodlok® is ideal for locking the jaws while in a static/
stationary position. When the pressure is removed from the port of
the Rodlok®, the mechanism will grip on the external guide shaft
and prevent the jaws from moving. The loads are held indefinitely
without power. The Rodlok® may also be used in intermittent
dynamic use as a pressure off jaw deceleration device. Rodlok®
performance (Accuracy and Stopping distance) is application and
LETTER
DIM.
L1
L2
L3
L4
L5
L6
L7
L8
L9
GRR12-x-50
mm
in
62.9
2.478
27.3
1.075
11.200 284.4
8.976 227.9
14.8
.583
7.471 189.7
35.9
1.415
20.1
0.792
71.4
2.812
NOTES:
1) IT IS POSSIBLE TO OVERRIDE THE
RODLOK WITH VERY HIGH FORCE
APPLIED TO THE GRIPPER.
2) CIRCLED NUMBERS INDICATE
POSITION.
environment sensitive (Cleanliness of Shaft or Rodlok® will also
affect performance). THE RODLOK® IS NOT DESIGNED TO BE USED
AS A PERSONNEL SAFETY DEVICE.
Option H47 provides the Rodlok® pre-assembled to the gripper.
The port of the Rodlok device will be in location 99.
Add-on and replacement Rodlok® kits can be purchased
separately. Contact PHD for details.
L1
L2
L3
L4
L9
6
L5
2
4
5
L8
L6
1/8 BSPP (METRIC UNITS)
1/8 NPT (IMPERIAL UNITS)
PORT FOR JAW LOCK
(MUST BE PRESSURIZED
BEFORE OPERATING GRIPPER)
6A
1
L7
3
DYNAMIC
STATIC LOCKING FORCE*
LOCKING FORCE
lb
N
SIZE
337
1500 Actual dynamic locking forces
50
are application sensitive.
Environmental conditions,
load weights, attitude, pressure,
and speed influence performance.
NOTE: *Locking force indicated above 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.
L9
METRIC UNIT WITH IMPERIAL
(NPT) PORTS
Z1
This option provides a corrosion resistant coating on all
ferrous parts for use in applications where the standard parts may
corrode.
V1
L7
IMPERIAL UNIT WITH METRIC
(BSPP) PORTS
CORROSION RESISTANT
FLUORO-ELASTOMER SEALS
Fluoro-elastomer seals are available to achieve seal compatibility
with certain fluids. Seal compatibility should be checked with the
fluid manufacturer for proper application. Consult PHD for high
temperature use.
6A-107
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grr
APPLICATION EXAMPLES: SERIES GRR GRIPPERS
GRIPPER FOR HIGH FORCE
AND HIGH JAW LOADS
The Series GRR Gripper is designed to withstand external
forces and for moving heavy parts quickly. The parallel
design provides for automatic centering of parts, while
the 8 inch jaw travel makes it flexible for a wide
variety of applications. In this application, two
Series GRR Grippers are mounted on a fixture
attached to a robot. The robot will transfer
rims from an in-feed conveyor station to and
from three separate machining processes.
Then the finished rim is placed on a conveyor,
taking it from the machining area.
3
2
4
1
6A
5
GRIPPER FOR LONG TRAVEL,
HIGH FORCE CAPABILITY
This Series GRR Gripper is designed for long stroke,
high force applications. The synchronized parallel jaw
motion automatically centers items for operations such as
sorting. The long stroke compensates for items of varying
size or position.
6A-108
(800) 624-8511
www.phdinc.com/grr
CAT-03
SOLUTIONS FOR
CONCEPTS: SERIES GRR GRIPPERS
Illustrations shown are for concept only. Other variations
include:
Stroke adjustment on closed
Fluid compatibility
Alternate materials
Contact PHD, Inc. with your product
requirements.
SMALLER THAN
STANDARD BORE
& LONGER THAN
STANDARD JAW
TRAVEL
SPRING ASSIST
OPEN OR CLOSED
SMALLER THAN
STANDARD
BORE SIZE
6A
LONGER THAN
STANDARD JAW
TRAVEL
JAW STROKE
ADJUSTMENT
COLLARS
6A-109
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grr
6A
NOTES
6A-110
(800) 624-8511
www.phdinc.com/grr
CAT-03
SOLUTIONS FOR
180° JAW MOTION GRIPPERS
SERIES GRB NEW!
INDEX:
Ordering Data
Page 6B-2
Benefits
Page 6B-3
Dimensions
Pages 6B-4 and 6B-5
180° Jaw Rotation Provides Maximum
Jaw Clearance from the Work Area
Engineering Data
Pages 6B-6 to 6B-10
Options
Pages 6B-11 and 6B-12
Accessories
Pages 6B-13 and 6B-14
6B
Applications & Concepts
Page 6B-15
6B-1
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grb
www.phdinc.com/grb
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
JAW VARIATION
1 - Non-locking
PORTING OPTION
UB15 - Port option in location 15
SWITCH OPTIONS
CU - Proximity switch ready
M
- Magnet for Series 6790 Switches
OPTIONS
STANDARD
PORT IN
LOCATION 48
TYPE
B - 180° Angular
JAW
1 - Style 1
BORE SIZE
Diameter
mm (in)
12 (.472)
16 (.630)
20 (.787)
32 (1.260)
40 (1.575)
50 (1.969)
Please refer to pages 6B-13 and 6B-14 for
switch and kit information.
NOTE: Design number dictates imperial or
metric mounting holes, dowel pin holes, and
ports.
PRODUCT
G - Gripper
60°
90°
180°
TOTAL JAW
ROTATION
(DEGREES)
180 (Standard)
90
60
G R B 1 1 - 2 - 12 x 180 - UB15-M
SERIES
R - Regular Duty
DESIGN NO.
(See Note)
2 - Imperial
6 - Metric
TO ORDER SPECIFY:
Product, Series, Type, Jaw Variation, Jaw, Design No.,
Bore Size, Total Jaw Rotation, and Options required.
6B
OPTION:
PORTS IN
LOCATION 15
ORDERING DATA: SERIES GRB GRIPPERS
F
6B-2
SOLUTIONS FOR
BENEFITS: SERIES GRB GRIPPERS
BENEFITS
Interchangeable with previous design
■
Series GRB Grippers, available in six sizes, provide up to 180°
of total jaw rotation allowing the jaws to rotate completely
clear of the work area eliminating an otherwise required
axis of travel.
■
Internal speed restriction eliminates the need for flow controls
in standard applications. External flow controls are available as
an accessory.
■
Three total jaw rotations available: 60°, 90°, and 180°
■
Internal shock pads reduce end of rotation shock on open and
ensure quiet operation.
■
Enclosed jaw mechanism helps prevent external contamination
from damaging the unit.
■
Close tolerance jaw width and dowel pin holes provide precise
positioning for jaw tooling and fixturing.
■
The gripper body has two mounting surfaces with dowel pin
holes to provide accurate mounting in a variety of attitudes.
■
Optional 4 mm round inductive proximity switches, as well as
Series 6790 Solid State and Reed switches are available on all
sizes for indication of jaw position and simple interfacing with
electronic system controls.
DESIGN IMPROVEMENTS
■
Increased grip force
■
Field repairable
■
Improved precision through decreased jaw side play
■
Optional port location available
■
Larger piston rod and jaw driver provide a significantly more
rugged gripper
■
One piece body provides superior interchangeability
■
Internal speed restriction removes the need for external speed
controls in standard applications
■
Longer life seals
■
Increased diameter jaw pivot pins, on smaller sizes, provide
increased robustness
■
Series 6790 Solid State and Reed switches now available
on all sizes
■
Dowel pin holes added to jaws allow for simplified tooling and
improved gripper to gripper interchangeability
■
Proximity switches and kits are interchangeable between
Design 1 and Design 2
Hardened Steel
Jaw Driver
Hardened Steel
Jaws with Precision
Dowel Holes
Hardcoated
Aluminum Body
Precise Hardened
Pivot & Drive Pins
Mounting for
4 mm Round
Inductive Proximity
Switches Available
(with -CU Option)
Long Life Piston
& Rod Seals
Internal Shock Pad
One Piece Hard
Chrome Plated Piston
Rod for Extended
Seal Life
Switch Slots
Accept Series
6790 Solid State
& Reed Switches
(with -M Option)
SIZE
SPECIFICATIONS
12
16
20
32
40
TORQUE PER JAW AT 87 psi [6 bar]
EXTERNAL GRIP
2.8 in-lb [0.32 Nm] 7.9 in-lb [0.90 Nm] 26 in-lb
[3.0 Nm] 84 in-lb [9.5 Nm] 162 in-lb [18 Nm]
INTERNAL GRIP
3.6 in-lb [0.41 Nm] 9.2 in-lb [1.04 Nm] 32 in-lb
[3.7 Nm] 105 in-lb [12 Nm] 187 in-lb [21 Nm]
MAX. TOTAL JAW ROTATION
180°
180°
180°
180°
180°
BORE DIAMETER
0.47 in
[12 mm] 0.63 in
[16 mm] 0.79 in
[20 mm]
1.26 in
[32 mm] 1.57 in
[40 mm]
UNIT WEIGHT
0.28 lb
[0.13 kg] 0.55 lb
[0.25 kg] 0.98 lb
[0.45 kg]
2.2 lb
[0.98 kg]
4.3 lb
[2.0 kg]
6B
■
50
530 in-lb [60 Nm]
607 in-lb [69 Nm]
180°
1.97 in
[50 mm]
11.5 lb
[5.2 kg]
6B-3
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grb
DIMENSIONS: SERIES GRB GRIPPERS
SIZE 12, 16, 20, & 32
SIZE 12 & 16
J1
SIZE 20 & 32
J13
J13
J2
J3
J6
2X J7 THD
J8 ±.0005
[H7] DOWEL
PIN HOLE
J5
CL
J10
J11
2X J8 ±.0005
[H7] DOWEL
PIN HOLE
J9
PROXIMITY SENSOR
MOUNTING LOCATION
J12
J10
JAW PIVOT
CENTERLINE
JAW PIVOT
CENTERLINE
B3
2X P1 PORT
2X P1 PORT
2X MANUFACTURING
HOLES (CONSULT
PHD FOR MORE
INFORMATION)
P5
CLOSE
J4
P5
P4
CLOSE
P4
OPEN
P2
B4
K5
2X K2 ±.0005
[H7] DOWEL
PIN HOLE
K4
CL
K3
2X K1 THD
6B
OPEN
B1
SIZE
2X MANUFACTURING
HOLES (CONSULT
PHD FOR MORE
INFORMATION)
2X K6 THD
C'BORE & THRU
HOLE FOR K7
SHCS FROM
OPPOSITE SIDE
P2
P3
P3
B1
B2
SLOTS FOR
SERIES 6790
SWITCHES
J11
J9
B5
B6
J6
2X J7 THD
K11
LETTER
DIM
B1
B2
B3
B4
B5
B6
J1
J2
J3
J4
J5
J6
J7
J8
K9
(J4)
K10
2X K8 ±.0005
[H7] DOWEL
PIN HOLE
J9
J10
J11
J12
J13
K1
K2
CL
NOTES:
2) ALL DIMENSIONS ARE REFERENCE ONLY UNLESS
SPECIFICALLY TOLERANCED
3) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS
DESIGNATED mm
K3
K4
K5
K6
K7
K8
K9
K10
K11
P1
P2
P3
P4
P5
12
in
.966
1.420
2.197
1.102
.444
.386
1.063
.196
.019
1.752
1.142
.452
6-32
THRU
.0971
THRU
.8270
.177
.354
––
.3150
8-32
x .296 DP
.0947 x
.187 DP
.216
.4724
.7480
10-24 x
.400 DP
#6
.0947 x
.187 DP
.256
.906
.7480
10-32
.433
.511
.236
.886
20
32
mm
mm
in
mm
in
41.5
29.0
1.422
36.1
1.635
78.0
46.0
2.107
53.5
3.070
106.9
68.8
3.286
83.5
4.210
66.0
42.0
1.930
49.0
2.600
23.4
14.3
.668
17.0
.923
22.1
13.3
.564
14.3
.869
61.0
36.0
1.673
42.5
2.400
10.0
5.5
.275
7.0
.394
2.0
1.5
.098
2.5
.0790
83.5
54.5
2.618
66.5
3.287
61.0
40.0
1.850
47.0
2.402
20.0
14.0
.710
18.0
.7870
M6 x 1.0
M4 x 0.7
10-24
M5 x 0.8
1/4-20
THRU
THRU
THRU
THRU
THRU
3.0
2.5
.0971
2.5
.1283
THRU
THRU
THRU
THRU
THRU
39.0
27.5
1.1024
28.0
1.5355
6.0
6.5
.197
5.0
.236
20.0
13.0
.709
18.0
.787
8.0
––
.315
8.0
.315
16.5
10.0
.5120
13.0
.6500
M5 x 0.8
1/4-20 M6 x 1.0 5/16-18 M8 x 1.25
x 7.6 DP x .375 DP x 9.5 DP x .551 DP x 14.0 DP
5.0 x
3.0 x
.1283 x
3.0 x
.1908 x
9.0 DP
5.0 DP
.200 DP 5.0 DP
.354 DP
7.5
5.5
.239
6.1
.295
25.0
17.0
.9450
24.0
.9844
51.0
31.0
1.4568
37.0
2.0080
M6 x 1.0 1/4-20 x M6 x 1.0 5/16-18 x M8 x 1.25
x 12.7 DP .551 DP x 14.0 DP .630 DP x 16.0 DP
M6
M5
#10
M5
1/4
5.0 x
3.0 x
.1283 x
3.0 x
.1908 x
9.0 DP
5.0 DP
.200 DP 5.0 DP
.354 DP
15.0
9.0
.472
12.0
.591
41.5
28.5
1.339
34.0
1.634
51.0
31.0
1.4568
37.0
2.0080
M5 x 0.8
10-32
M5 x 0.8 1/8 NPT 1/8 BSPP
18.5
12.0
.710
18.0
.728
23.0
17.0
.946
24.0
.905
11.0
6.5
.348
8.8
.433
42.5
29.0
1.378
35.0
1.673
16
in
mm
1.142
24.5
1.810
36.1
2.709
55.8
1.654
28.0
.562
11.3
.523
9.8
1.417
27.0
.216
5.0
.059
.5
2.146
44.5
1.575
29.0
.550
11.5
8-32
M4 x 0.7
THRU
THRU
.0971
2.5
THRU
THRU
1.0820
21.0
.256
4.5
.512
9.0
––
––
.3937
8.0
10-24
M4 x 0.7
x 7.5 DP x .300 DP
.1283 x
2.5 x
.200 DP
4.75 DP
.215
5.5
.6694
12.0
1.2206
19.0
M5 x 0.8 1/4-20 x
x 10.0 DP .500 DP
#10
M4
.1283 x
2.5 x
.200 DP
4.75 DP
.354
6.5
1.123
23.0
1.2206
19.0
10-32
M5 x 0.8
.472
11.0
.669
13.0
.256
6.0
1.142
22.5
6B-4
(800) 624-8511
www.phdinc.com/grb
CAT-03
SOLUTIONS FOR
DIMENSIONS: SERIES GRB GRIPPERS
SIZE 40 & 50
J1
J2
J3
J13
2X J7 THD
J6
2X J8 ±.0005
[H7] DOWEL
PIN HOLE
J11
J5
CL
J9
B5
J10
JAW PIVOT
CENTERLINE
B6
B3
PROXIMITY SENSOR
MOUNTING LOCATION
J12
2X P1 PORT
(CONSULT PHD FOR MORE
INFORMATION)
J4
P5
CLOSE
P4
P3
B2
B1
K5
4X K1 THD
K13
2X MANUFACTURING
HOLES (CONSULT
PHD FOR MORE
INFORMATION)
SIZE
LETTER
DIM
B1
B2
B3
B4
B5
B6
J1
J2
J3
J4
J5
J6
J7
K4
2X K2 ±.0005
[H7] DOWEL
PIN HOLE
K3
CL
4X K6 THD
C’BORE & THRU HOLE
FOR K7 SHCS FROM
OPPOSITE SIDE
K11
K12
(J4)
J8
K10
J9
J10
J11
J12
J13
K1
K9
2X K8 ±.0005
[H7] DOWEL PIN HOLE
CL
K2
K3
K4
K5
K6
NOTES:
3) METRIC INFORMATION SHOWN IN [ ] OR SHOWN IN COLUMNS DESIGNATED mm
K7
K8
ANGULAR JAW ROTATION TOLERANCE
(ALL SIZES)
TOTAL JAW ROTATION 180°
(90° PER JAW) STANDARD
+5°/-0°
90°
(45° PER JAW)
CLOSED
45°
+5°/-0°
(30° PER JAW)
CLOSED
30°
+5°/-0°
CLOSED
+15°/-0°
+15°/-0°
OPEN
OPEN
+10°/-0°
K9
K10
K11
K12
K13
P1
P2
P3
P4
P5
50
40
in
2.160
4.060
5.188
3.380
1.213
1.134
3.230
.472
.079
3.975
2.875
1.080
5/16-18
THRU
.1283
THRU
1.9094
.315
.945
.3150
.7875
5/16-18 x
.551 DP
.2533
x .397 DP
.352
1.4567
2.6772
3/8-16 x
.787 DP
5/16
.2533
x .397 DP
.551
2.401
2.6772
1.102
1.7323
1/8 NPT
1.080
1.395
.453
1.575
mm
54.9
103.1
131.8
85.9
30.8
28.8
82.0
12.0
2.0
101.0
73.0
27.4
M8 x 1.25
THRU
3.0
THRU
48.5
8.0
24.0
8.0
20.0
M8 x 1.25
x 14.0 DP
6.0
x 10.0 DP
8.9
37.0
68.0
M10 x 1.5
x 20.0 DP
M8
6.0
x 10.0 DP
14.0
61.0
68.0
28.0
44.0
1/8 BSPP
27.4
35.4
11.5
40.0
in
2.560
6.220
7.609
4.880
1.901
1.676
5.040
.708
.196
5.708
4.133
1.280
3/8-16
THRU
.2533
THRU
2.9528
.394
1.181
.3937
.9840
3/8-16 x
.787 DP
.3158
x .590 DP
.434
1.6930
4.0160
1/2-13 x
.984 DP
3/8
.3158
x .590 DP
.729
3.485
4.0160
1.457
2.8740
1/8 NPT
.414
1.654
.551
3.484
mm
65.0
158.0
193.3
124.0
48.3
42.6
128.0
18.0
5.0
145.0
105.0
32.5
M10 x 1.5
THRU
6.0
THRU
75.0
10.0
30.0
10.0
25.0
M10 x 1.5
x 20.0 DP
8.0
x 15.0 DP
11.0
43.0
102.0
M12 x 1.75
x 25.0 DP
M10
8.0
x 15.0 DP
18.5
88.5
102.0
37.0
73.0
1/8 BSPP
10.5
42.0
14.0
88.5
OPEN
6B-5
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grb
6B
SLOTS FOR SERIES
6790 SWITCHES
OPEN
P2
B4
ENGINEERING DATA: SERIES GRB GRIPPERS
SPECIFICATIONS
GRIP FORCE FACTOR GF
INTERNAL
NOMINAL EXTERNAL
GRIP
TOTAL JAW GRIP
Imperial Metric
SIZE ROTATION Imperial Metric
136
106
0.083
180°
12
0.065
346
299
0.21
180°
16
0.18
1221
0.75
994
180°
20
0.61
3951
2.4
3170
180°
32
1.9
7049
4.3
6089
180°
40
3.7
22864
14
19964
180°
50
12
GRIPPER
WEIGHT
lb
kg
0.28
0.13
0.55
0.25
0.98
0.45
2.2
0.98
4.3
2.0
11.5
5.2
OPEN TIME
CLOSE TIME
87 psi [6 bar] 87 psi [6 bar]
sec
sec
0.07
0.12
0.13
0.25
0.13
0.26
0.19
0.41
0.30
0.55
0.32
0.56
DISPLACEMENT
cm3
in3
1.4
0.09
3.5
0.21
6.2
0.38
22
1.33
47
2.84
115
7.00
SEALS AND FLUIDS
LUBRICATION
Long life seals are standard on all Series GRB Grippers. These
consult PHD.
Lubricated air may increase the life of the unit.
MATERIAL
TEMPERATURE LIMITS
Gripper body is hardcoated aluminum. Jaws, jaw driver, drive
pins, and jaw pivot pins are hardened steel. Jaw cover is coated
steel. Piston rod is hard chrome plated steel.
temperatures from –20° to 180°F [–30° to 82°C]. For temperatures
outside this range, consult PHD.
SPECIAL GRIPPERS
LIFE EXPECTANCY
special materials are available. Consult PHD. See page 16 for
examples of custom products and solutions.
All standard units have been engineered and tested for a
minimum of 5 million trouble free cycles.
MAXIMUM ALLOWABLE FORCES &
MOMENTS ON GRIPPER JAWS
SIZE
12
16
20
32
40
50
MAX TOOLING
LENGTH
in
mm
3
75
4
100
4.5 115
5
125
6
150
8
200
Fa (TENSION OR
COMPRESSION)
N
lb
90
20
180
40
355
80
780
175
1690
380
3110
700
My
in-lb
20
40
60
120
300
600
Nm
2.3
5
7
14
34
68
Mz
in-lb Nm
20
2.3
40
5
60
7
120
14
300
34
600
68
My, Mz: Allowable moments per jaw. Moments measured from the jaw pivot.
Fa: Allowable total force
Max Tooling Length: Measured from jaw pivot.
Fa
Mz
Note: When calculating values for My, Mz, and Fa, include the grip force per
jaw, tooling weight, part weight, external forces, and acceleration, as applicable.
My
My
6
(800) 624-8511
www.phdinc.com
GRB02
SOLUTIONS FOR
GRIP FORCE
GRIP FORCE GRAPHS
16
[71]
the stated actuating pressure. Grip force per jaw equals the total grip
force divided by two. The graphs also indicate the maximum tooling
length for each gripper size.
SIZE 12
OPEN, 87 psi [6 bar]
12
[53]
CLOSED, 87 psi [6 bar]
8
[36]
4
[18]
JAW PIVOT
0
0.47
[12]
0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0
[19] [25] [32] [38] [44] [50] [57] [63] [69] [75]
SIZE 16
TOOLING
LENGTH
24
[107]
F/2
F/2
1.0
[25]
1.5
[38]
100
[445]
2.0
2.5
3.0
[50]
[63]
[75]
3.5
[88]
4.0
[100]
MAXIMUM
TOOLING
LENGTH
240
[1068]
SIZE 20
80
[356]
60
[267]
40
[178]
20
[89]
0
0.67 1.0
[17] [25]
1.5
[38]
320
[1423]
2.0
2.5
3.0
3.5
[50]
[63]
[75]
[88]
4.0
[100]
4.5
[113]
MAXIMUM
TOOLING
LENGTH
SIZE 32
180
[801]
120
[534]
60
[267]
0
0.92
[23]
1.5
[38]
640
[2847]
SIZE 40
160
[712]
80
[356]
2.0
[50]
3.0
4.0
[75]
[100]
2.0
2.5
3.0
3.5
4.0
4.5
5.0
[50] [63] [75] [88] [100] [113] [125]
MAXIMUM
TOOLING
LENGTH
SIZE 50
240
[1068]
0
1.25
[32]
6B
0
0.57
[14]
PART
12
[53]
36
[160]
MAXIMUM
TOOLING
LENGTH
5.0
[125]
6.0
[150]
MAXIMUM
TOOLING
LENGTH
480
[2135]
320
[1423]
160
[712]
0
1.97
[50]
3.0
[75]
4.0
5.0
6.0
[100]
[125]
[150]
7.0
[175]
8.0
[200]
MAXIMUM
TOOLING
LENGTH
6B-7
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grb
FORCE MULTIPLIER GRAPH
1.2
FORCE MULTIPLIER
1.0
.8
.6
.4
.2
0
-2.5¡
0°
30°
-2.5°
60°
90°
120°
150°
180°
0¡
INCLUDED JAW ANGLE
AT POINT OF GRIP
180¡
NOTES:
1) The force multiplier is a function of the jaw position at point of grip.
2) Force multiplier with the jaws parallel (0°) is 1.
GRIP FORCE CALCULATION EXAMPLE:
PRESSURE (psi) x GF
x FORCE MULTIPLIER = TOTAL GRIP FORCE (lb)
DISTANCE FROM JAW PIVOT (in)
PRESSURE [bar] x GF
x FORCE MULTIPLIER = TOTAL GRIP FORCE [N]
DISTANCE FROM JAW PIVOT [mm]
Example: GRB11-2-20 x 180, [GRB11-6-20 x 180]
Find Tooling Length (Distance Between Jaw Pivot and Gripping Point): Desired tooling length is 1.75 in [44.5 mm].
Find Jaw Angle at Point of Grip: Jaws will be parallel (0°) at point of grip.
Determine Force Multipler Based on Jaw Angle at Point of Grip: Because jaws are parallel (0°) at point of grip,
force multiplier = 1 (from Force Multiplier Graph above).
Find Grip Factor (GF) = .61 [994] (from Specifications p. 6)
Total Grip Force = ((87 psi x .61) / 1.75) x 1 = 30.3 lb [((6 bar x 994) / 44.5) x 1 = 134 N]
JAW PIVOT
TOOLING LENGTH
= 1.75 in [44.5 mm]
F/2
PART
F/2
8
(800) 624-8511
www.phdinc.com
GRB02
SOLUTIONS FOR
JAW TOOLING INERTIA GRAPHS
(PER JAW)
[5.1]
1.50
[4.4]
1.25
[3.7]
1.00
[2.9]
.75
[2.2]
.50
[1.5]
.25
[.73]
SIZE 16
[7.3]
2.25
[6.6]
2.00
[5.9]
1.75
[5.1]
1.50
[4.4]
1.25
[3.7]
1.00
[2.9]
.75
[2.2]
.50
[1.5]
.25
[.73]
LB
AXIS Z1
PART B
AXIS Z2
R1
R2
AXIS Z
(TOTAL JAW
TOOLING INERTIA
IS CALCULATED
ABOUT THIS AXIS)
7
[21]
6
[18]
5
[15]
4
[12]
3
[8.8]
2
[5.9]
1
[2.9]
[0]
80 100 120 140 160 180 200 220 240 260 280 300 320
CYCLE TIME (ms/90°)
SIZE 40
50
[146]
40
[117]
[88]
30
20
[59]
10
[29]
12
[35]
9
[26]
6
[18]
3
[8.8]
0
60
[176]
200
[0]
0
120 140 160 180 200 220 240 260 280 300 320 340 360 380
[44]
TOOLING INERTIA [x 10-4 kg-m2]
[23]
SIZE 32
[0]
80 100 120 140 160 180 200 220 240 260 280 300 320
SIZE 50
[583]
180
[527]
160
[468]
140
[410]
120
[351]
100
[293]
80
[234]
60
[176]
40
[117]
20
[59]
8
15
TOOLING INERTIA (lb-in2)
[26]
SIZE 20
60
WB
[0]
80 100 120 140 160 180 200 220 240 260 280 300 320
9
0
60
HB
[8.0]
2.50
0
60
LA
HA
80
PART A
WA
2.75
60
Jaw tooling must be sized in such a manner as to keep the
total jaw tooling inertia (per jaw) in the shaded areas of the charts
below. Use the calculation example on page 10 as a template for
your tooling design.
[0]
100 120 140 160 180 200 220 240 260 280
[5.9]
1.75
0
40
[6.6]
2.00
SIZE 12
2.25
JAW TOOLING
[0]
0
180 200 220 240 260 280 300 320 340 360 380 400 420 440
9
SOLUTIONS FOR
(800) 624-8511
GRB02
www.phdinc.com
JAW TOOLING INERTIA CALCULATION
(PER JAW)
EXAMPLE:
STEP 1:
STEP 1:
STEP 2:
Calculate the moments of inertia for the Jaw Tooling.
PART A
PART A
WA
LA
HA
AXIS Z1
AXIS Z2
R1
R2
AXIS Z
(TOTAL JAW
TOOLING INERTIA
IS CALCULATED
ABOUT THIS AXIS)
Calculation of Jaw Tooling Mass:
MA = LA x HA x WA x Mass Density of Jaw Tooling Material
Moment of Inertia Calculation for the Jaw Tooling about Axis Z1:
IZ1 = (1/12) x (MA) x (HA2 + LA2)
Moment of Inertia Calculation for the Jaw Tooling about Axis Z:
IZA = IZ1 + (MA x R12)
PART B
HB
WB
LB
AXIS Z1
PART B
AXIS Z2
R1
R2
AXIS Z
(TOTAL JAW
TOOLING INERTIA
IS CALCULATED
ABOUT THIS AXIS)
STEP 2:
PART A
LA = .500 in [.013 m]
HA = .625 in [.016 m]
WA = .750 in [.019 m]
Mass Density of Aluminum = .098 lb/in3 [2712.6 kg/m3]
R1 = 3.000 in [.075 m]
MA = .500 in x .625 in x .750 in x .098 lb/in3
[.013 m x .016 m x .019 m x 2712.6 kg/m3]
MA = .023 lb [.011 kg]
IZ1 = (1/12) x (.023 lb) x (.6252 in + .5002 in)
[(1/12) x (.011 kg) x (.0162 m + .0132 m)]
IZ1 = .0013 lb-in2 [3.9 x 10-7 kg-m2]
IZA = .0013 lb-in2 + (.023 lb x 3.0002 in)
[3.9 x 10-7 kg-m2 + (.011 kg x .0752 kg)]
IZA = .208 lb-in2 [6.2 x 10-5 kg-m2]
PART B
LB = 2.500 in [.064 m]
HB = .350 in [.009 m]
WB = .600 in [.015 m]
Mass Density of Aluminum = .098 lb/in3 [2712.6 kg/m3]
R2 = 2.000 in [.051 m]
MB = 2.500 in x .350 in x .600 in x .098 lb/in3
[.064 m x .009 m x .015 m x 2712.6 kg/m3]
MB = .051 lb [.023 kg]
IZ2 = (1/12) x (.051 lb) x (.3502 in + 2.5002 in)
[(1/12) x (.023 kg) x (.0092 m + .0642 m)]
IZ2 = .027 lb-in2 [8.0 x 10-6 kg-m2]
IZB = .027 lb-in2 + (.051 lb x 2.0002 in)
[8.0 x 10-6 kg-m2 + (.023 kg x .0512 m)]
IZB = .231 lb-in2 [6.8 x 10-5 kg-m2]
TOTAL JAW TOOLING INERTIA:
ITOTAL = .208 lb-in2 + .231 lb-in2
[6.2 x 10-5 kg-m2 + 6.8 x 10-5 kg-m2]
ITOTAL = .439 lb-in2 [1.3 x 10-4 kg-m2]
STEP 3:
MB = LB x HB x WB x Mass Density of Jaw Tooling Material
IZ2 = (1/12) x (MB) x (HB2 + LB2)
IZB = IZ2 + (MB x R22)
TOTAL JAW TOOLING INERTIA:
ITOTAL = IZA + IZB
STEP 3:
Verify Jaw Tooling Inertia by comparing ITOTAL with Jaw Tooling
Inertia graph.
SIZE 20
9
[26]
8
[23]
7
[21]
6
[18]
5
[15]
4
ITOTAL
[12]
3
[8.8]
2
[5.9]
1
[2.9]
0
60
Determine the Gripper Size, Jaw Tooling Dimensions, and
Gripper Opening Time.
Gripper Size: 20, Jaw Tooling Dimensions: see graphic, Gripper
Opening Time: 130 ms
[0]
80 100 120 140 160 180 200 220 240 260 280 300 320
10
(800) 624-8511
www.phdinc.com
GRB02
SOLUTIONS FOR
OPTIONS: SERIES GRB GRIPPERS
PORT OPTION IN LOCATION 15
This option provides ports in Location 15. The standard ports
are plugged.
P9
2X P6 PORT
P8
PORT OPTION -UB15
P7
CL
CLOSE
OPEN
SIZE
M
12
in
10-32
.296
.315
.906
16
mm
M5 x 0.8
7.5
8.0
23.0
in
10-32
.374
.256
1.122
mm
M5 x 0.8
9.5
6.5
28.5
20
in
10-32
.492
.354
1.378
mm
M5 x 0.8
12.5
9.0
35.0
32
in
1/8 NPT
.728
.571
1.730
MAGNET FOR PHD SERIES 6790
REED AND SOLID STATE SWITCHES
40
mm
in
1/8 BSPP 1/8 NPT
18.5
.925
14.5
.453
43.9
1.575
mm
in
1/8 BSPP 1/8 NPT
23.5
1.321
11.5
.551
40.0
3.484
50
mm
1/8 BSPP
33.6
14.0
88.5
(NOT INCLUDED
WITH -M OPTION)
6B
LETTER
DIM
P6
P7
P8
P9
This option equips the unit with a magnetic piston for use with
PHD’s Series 6790 Reed and Solid State Switches. The switches
mount easily into two small grooves located on the front of the
gripper body and are locked into place with a set screw. PHD’s
Series 6790 switches are required in addition to the -M option and
are sold separately.
SOLUTIONS FOR
CAT-03
6B-11
(800) 624-8511
www.phdinc.com/grb
OPTIONS: SERIES GRB GRIPPERS
CU
SENSOR READY
With this option the gripper is assembled with extended jaw
pivot pins for use with PHD inductive proximity switch mounting
kits. Switches and switch mounting kits are required in addition to
the -CU option and are sold separately. See page 13 for switches and
mounting kits.
PS2
CL
PS3
PS1
(J4)
.275 x .015 DP
[7.0 x 0.4 DP]
2X M2.5 x .45
THREAD x 4mm DP
PS4
SIZE
6B
LETTER
DIM
PS1
PS2
PS3
PS4
(J4)
12
in
.079
.236
.523
.828
1.752
16
mm
2.0
6.0
13.3
21.0
44.5
in
.118
.236
.671
1.060
2.146
20
mm
3.0
6.0
17.0
26.9
54.5
in
.157
.295
.765
1.360
2.618
32
mm
4.0
7.5
19.4
34.5
66.5
in
.196
.295
.612
2.100
3.287
40
mm
5.0
7.5
15.5
53.3
83.5
in
.196
.295
.612
2.930
3.975
50
mm
5.0
7.5
15.5
74.4
101.0
in
.196
.295
.612
4.740
5.708
mm
5.0
7.5
15.5
120.4
145.0
6B-12
(800) 624-8511
www.phdinc.com/grb
CAT-03
SOLUTIONS FOR
ACCESSORIES: SERIES GRB GRIPPERS
PROXIMITY SWITCHES
PART NUMBER
DESCRIPTION
.354 [9.0] MAX
PROXIMITY SWITCH
MOUNTING KITS
SIZE KIT NUMBER
18074
12
18090
16
18075
20
18091
32
18091
40
18091
50
Each kit contains 1 target,
1 switch mounting bracket,
.079 [2.0] HEX SIZE
PS7
.031 [0.8] MAX
SENSING DISTANCE
.315
[8.0] RAD
4 mm ROUND
PROXIMITY SWITCH
.079 [2.0] HEX SIZE
SIZE
12
in
.236
16
mm
6.0
in
.236
20
mm
6.0
in
.295
32
mm
7.5
in
.295
40
mm
7.5
in
.295
50
mm
7.5
in
.295
mm
7.5
6B
LETTER
DIM
PS7
SOLUTIONS FOR
CAT-03
6B-13
(800) 624-8511
www.phdinc.com/grb
ACCESSORIES: SERIES GRB GRIPPERS
(-M OPTION REQUIRED)
PART NUMBER
67923-1
67903-1-02
67903-1-05
67924-1
67904-1-02
67904-1-05
67922-1
67902-1-02
67902-1-05
SERIES 6790 SOLID STATE & REED SWITCHES
DESCRIPTION
NPN (Sink) Solid State, 4.5-30 VDC, Quick Connect
NPN (Sink) Solid State, 4.5-30 VDC, 2 Meter Cable
NPN (Sink) Solid State, 4.5-30 VDC, 5 Meter Cable
PNP (Source) Solid State, 4.5-30 VDC, Quick Connect
PNP (Source) Solid State, 4.5-30 VDC, 2 Meter Cable
PNP (Source) Solid State, 4.5-30 VDC, 5 Meter Cable
PNP (Source) or NPN (Sink) DC Reed, 4.5-30 VDC, Quick Connect
PNP (Source) or NPN (Sink) DC Reed, 4.5-30 VDC, 2 Meter Cable
PNP (Source) or NPN (Sink) DC Reed, 4.5-30 VDC, 5 Meter Cable
SIZE 32, 40, & 50
SIZE 12, 16, & 20
.051 [1.3] HEX SIZE
.051 [1.3] HEX SIZE
APPROXIMATE LED
LOCATION
APPROXIMATE LED
LOCATION
HS1*
(SIZE 12, 16 & 20)
SIZE
LETTER
DIM
HS1*
12
in
.350
16
mm
8.9
in
.300
20
mm
7.6
in
.200
32
mm
5.1
in
—
40
mm
—
in
—
50
mm
—
in
—
6B
NOTE: * INDICATES END OF SERIES 6790 SWITCH HOUSING, DOES NOT INCLUDE CABLE.
mm
—
.051 [1.3] HEX SIZE
APPROXIMATE LED
LOCATION
FLOW CONTROLS
IMPERIAL FLOW CONTROLS
TUBE OD KIT NUMBER
PORT SIZE
GRIPPER SIZE
70695-01
5/32"
10-32 UNC-2B
12
70695-01
5/32"
10-32 UNC-2B
16
70695-01
5/32"
10-32 UNC-2B
20
70695-03
1/4"
1/8 NPT
32
70695-03
1/4"
1/8 NPT
40
70695-03
1/4"
1/8 NPT
50
NOTE: EACH KIT CONTAINS 1 FLOW CONTROL
This accessory may be used to control the jaw actuation speed
of the gripper. By decreasing the jaw actuation speed, the tooling
inertia may be increased. See page 6B-10 for jaw tooling inertia
calculations.
METRIC FLOW CONTROLS
TUBE OD
PORT SIZE
GRIPPER SIZE
4.0 mm
M5 x 0.8
12
4.0 mm
M5 x 0.8
16
4.0 mm
M5 x 0.8
20
6.0 mm
1/8 BSP
32
6.0 mm
1/8 BSP
40
6.0 mm
1/8 BSP
50
NOTE: EACH KIT CONTAINS 1 FLOW CONTROL
KIT NUMBER
70696-01
70696-01
70696-01
70696-03
70696-03
70696-03
6B-14
(800) 624-8511
www.phdinc.com/grb
CAT-03
SOLUTIONS FOR
APPLICATIONS & CONCEPTS: SERIES GRB GRIPPERS
The Series GRB 180° Angular Grippers are ideal for applications
where the jaws or fingers must rotate completely clear of the work
area. In this application, a Series GRB 180° Angular Gripper is used
in conjunction with a PHD Series RA Rotary Actuator and a PHD
Series SM Slide to grasp, lift, and rotate a part 180°. The Series GRB
Gripper’s jaws rotate clear of the work area when not in use,
eliminating the need for an additional horizontal axis of movement.
The use of a typical gripper would require an actuator to move the
gripper back out of the way after the part has been rotated. The
Series GRB 180° Angular Gripper saves money by eliminating a
linear actuator from this application.
This application shows the Series GRB 180° Angular Gripper
used in conjunction with a PHD Series RI Rotary Actuator to grasp a
part and rotate it 90°. The gripper is able to grasp the object, change
its position 90°, and replace the object without the use of a vertical
axis. Once the object has been replaced, the Series GRB jaws rotate
completely clear of the work area, allowing normal work flow. As in
the other example, an axis of motion is eliminated, saving money.
SERIES RI
ROTARY ACTUATOR
SERIES SM
SLIDE
SERIES GRB
GRIPPER
SERIES GRB
GRIPPER
(SHOWN IN RAISED &
LOWERED POSITIONS)
B
C
A
SERIES RA
ROTARY
ACTUATOR
D
C
B
A
ACTIONS: A- CLOSE, B- ROTATE 90°, A- OPEN, C- MOVE
6B
ACTIONS: A- CLOSE, B- UP, C- ROTATE 180°, B- DOWN, A- OPEN, D- MOVE
■
Smaller or larger bore sizes
■
Alternate Angles of Rotation
■
Fluid compatibility
■
Alternate port locations
■
Alternate mounting locations
■
Manifold Ports
TANDEM
ALTERNATE JAW
ROTATION ADJUSTMENT
ALTERNATE JAW
SPRING ASSIST
SINGLE JAW
ROTATION
6B-15
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/grb
6B
NOTES
6B-16
(800) 624-8511
www.phdinc.com/grb
CAT-03
SOLUTIONS FOR
INDEX:
ANGULAR GRIPPERS
SERIES 8400, 190, 8600 3 JAW, & 5300
Series 8400
Pages 6C-1 to 6C-6
Series 190
Pages 6C-8 to 6C-12
Series 8600 3 Jaw
Pages 6C-14 to 6C-18
Series 5300
Pages 6C-20 to 6C-25
SERIES 8400
6C
SERIES 190
SERIES 8600
3 JAW
SERIES 5300
6C-1
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/8400a
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
DESIGN NO.
OPTIONS
NOTES:
1) Sensor must be used with a PHD Set Point Module
which is ordered separately. See Switches and Sensors
section for information and ordering data.
2) Proximity Switches, Bracket Kits, and Finger Blanks
must be ordered separately. See page 6C-5.
PROXIMITY SWITCH KIT
KIT NO.
TO FIT:
8410
19813
8420
19814
8430
19631
See page 6C-5 for details.
PROXIMITY SWITCHES
PART NO.
DESCRIPTION
18430-001-02 4 mm Round Current Sinking (NPN)
18430-002-02 4 mm Round Current Sourcing (PNP)
FINGER BLANK KITS
ALUMINUM DELRIN AF
8573
8574
8575
8576
8577
8578
18613
18614
SEALS
1 - Buna-N
HALL SENSOR KITS
GRIPPER SENSOR KIT NUMBER
10906-012
8400
10907-012
8410
10908-012
8420
18686-04
8430
TO FIT:
8400
8410
8420
8430
OPTIONS
0 - Hall Sensor Ready without sensor
3 - Hall Sensor (See note 1.)
(Not available for Model 8400)
MODEL
8400 - .375 Size
8410 - .500 Size
8420 - .750 Size
8430 - 1.000 Size
8410 - 02 - 0 0 1
TO ORDER SPECIFY:
Model, Design No., Options,
and Seals.
6C
ORDERING DATA: SERIES 8400 ANGULAR GRIPPERS
F
6C-2
SOLUTIONS FOR
BENEFITS: SERIES 8400 ANGULAR GRIPPERS
OPERATING PRINCIPLE
A double-acting piston is attached to a central pivot by
a connecting rod. Each jaw has a pivot pin inserted through
the central pivot as well as a hinge pin inserted into the
gripper body.
As air pressure is applied to either end of the piston,
the jaw is forced to rotate about the hinge pin by the central
pivot and pin. This rotation provides the opening and closing
of the jaws.
■
SPECIFICATIONS
WORKING PRESSURE
areas.
BODY
PIVOT COMPONENTS
■
■
■
Double-acting for either internal or external gripper
applications.
JAWS
and shock loads.
SEALS
Available in four sizes to cover a wide range of application
requirements.
PORTS
ROD BUSHINGS
LUBRICATION
OPTIONS
■
Hardened steel pivot mechanism provides long life beyond
5 million trouble-free cycles.
■
Close tolerance jaw mechanism eliminates jaw play and dowel
holes precisely position customer tooling.
■
The gripper body has three mounting surfaces with dowel
holes providing accurate mounting in a variety of attitudes.
■
Simple construction allows the grippers to be easily repaired in
the field.
■
Available with Hall Effect Sensor for indication of jaw position
and interfacing with various controllers and logic systems.
■
Available with blank fingers for custom fitting of fingers to the
part’s shape.
■
Available with proximity switches for indication of jaw position
SERIES 8400
40 psi Min. - 150 psi Air Max.
Hardcoated Aluminum
Alloy Steel
Steel
6C
BENEFITS
Delrin AF
Quad Type Piston and Rod
Straight Thread
Hall Sensor, Proximity Switches
6C-3
SOLUTIONS FOR
(800) 624-8511
CAT-03
DIMENSIONS: SERIES 8400 ANGULAR GRIPPERS
LETTER
DIM
B
C
D
E
F
G
H
J
K
L
M
N*
O
P
Q
R
S
T
U*
W
Y
Z
AA
BB
CC
DD
EE
FF
OPTIONAL HALL SENSOR
LOCATION
8X Q THREAD
IN BODY
6X HOLE FOR W
DOWEL PIN IN BODY
O
Z
N* P SQ
T
U*
5
P
U*
MODEL NUMBER
8410
8420
8430
.900
1.400
1.938
.255
.316
.490
.187
.250
.315
.340
.540
.750
.312
.440
.625
4-40
6-32
8-32
.340
.540
.750
.110
.160
.219
.735
1.070
1.415
.110
.150
.217
.480
.650
.869
.2500
.3750
.7000
.175
.250
.275
.600
.875
1.250
6-32x .187 DP 8-32 x .281 DP 10-24 x .375 DP
1.219
1.480
2.054
.156
.180
.256
.343
.500
.688
.6875
1.0000
1.3750
3/32
1/8
5/32
.220
.300
.433
.125
.187
.350
.290
.440
.562
10-32
10-32
1/8 NPT
.145
.160
.364
.410
.500
.720
.140
.220
.360
3/32
1/8
1/8
8400
.700
.196
.125
.250
.230
3-48
.270
.080
.570
.098
.400
.1870
.156
.500
4-40 x .156 DP
.966
.094
.250
.5000
1/16
.196
.093
.220
3-56
.120
.300
.100
1/16
*TOLERANCE IS ± .0008
T
6C
N*
P
R
O
M
S
REF JAW PIVOT
CENTERLINE
K
C
THRU HOLE FOR FF DOWEL
PIN EACH JAW
D
6
2X G THREAD THRU
EACH JAW
JAW PIVOT
14° MIN
SEE PROXIMITY SWITCH
OPTION PAGE FOR DETAIL
3
3° MIN
J
H
2 B SQ
4
L
EE MAX
GRIPPER MECHANISM
WHEN JAWS ARE
FULLY OPENED
E
Y
1
AA
F/2
F
DD
CC
2X BB PORT
FITTING FOR 1/16 ID TUBE
EXCEPT ON 8430 UNITS
GRIPPER JAWS: SHOWN AT PARALLEL POSITION
JAW MOVEMENT SHOWS MINIMUM AMOUNT OF JAW
ROTATION. JAWS MAY OPEN 3° OR CLOSE 5° BEYOND
STATED MINIMUM ROTATION.
6C-4
(800) 624-8511
CAT-03
SOLUTIONS FOR
OPTIONS & ACCESSORIES: SERIES 8400 ANGULAR GRIPPERS
FINGER BLANKS
2X J DIA
THRU
D
A
H + .000 DIA
- .001
FIXTURING HOLE
E
F
L RAD
K
G
LETTER
DIM
A
B
C
D
E
F
G
H
J
K
L
8400
1.000
.340
.240
.230
.115
.095
.187
.0620
.109
.180
.094
FINGER
MATERIAL
ALUMINUM
DELRIN AF
8573
8574
MODEL NUMBER
8410
8420
1.500
2.000
.440
.690
.330
.530
.312
.440
.156
.220
.110
.170
.250
.312
.0937
.1245
.129
.162
.250
.420
.094
.156
8430
2.500
.939
.739
.625
.313
.200
.500
.1240
.180
.520
.234
C
B
FINGER BLANK KITS: CONTAIN 2 FINGER BLANKS, 4 MTG SCREWS, & 2 DOWEL PINS
FINGERS MAY ALS0 BE MOUNTED FACING OUTWARD
3
FINGER BLANK KIT NO
8575
8577
18613
8576
8578
18614
SENSOR/TRANSDUCER
PHD offers a solid-state sensor transducer option -3 for use
with a Set Point Module for sensing four or more positions
throughout the jaw travel. The Set Point Module is ordered
separately and allows independent adjustment of each sensing
position and is available for 4.5 to 24 VDC NPN or PNP.
PART NO.
9800-01-0300
9800-01-0400
SET POINT MODULE
DESCRIPTION
4.5-24 VDC, Sink Type Output
4.5-24 VDC, Source Type Output
6C
See Switches and Sensors section for information.
5
LETTER DIMENSION
KIT
A
B
C
GRIPPER
19813 .594
.374
.223
8410
19814 .594
.770
.223
8420
19631 .594
1.190
.286
8430
EACH PROXIMITY SWITCH KIT CONTAINS THE
FOLLOWING ITEMS:
1 TARGET WITH SCREW
1 SWITCH BRACKET WITH SCREW
Provides unit ready for installation of kits for proximity switch
mounting.
PROXIMITY SWITCHES
PART NO.
DESCRIPTION
18430-001-02 4 mm ROUND CURRENT SINKING (NPN)
18430-002-02 4 mm ROUND CURRENT SOURCING (PNP)
SEE SWITCHES AND SENSORS SECTION FOR DETAILS.
PROXIMITY SWITCHES ARE ORDERED SEPARATELY.
.354 MAX
.256
.032 MAX SENSING
DISTANCE
C
.315 RAD
A
.275 x .015 DP
.984
B
2X 3-48 UNC
THREAD
x .150 MIN DEEP
OPTIONAL
4 mm DIA PROXIMITY SWITCH
WITH 2 m CABLE LENGTH
SLOT DETAIL
FOR SWITCH BRACKET
SOLUTIONS FOR
6C-5
(800) 624-8511
CAT-03
ENGINEERING DATA: SERIES 8400 ANGULAR GRIPPERS
SPECIFICATIONS
GRIPPER
NO.
8400
8410
8420
8430
UNIT
GF
GF
DISPLACEMENT WEIGHT EXTERNAL INTERNAL
oz
GRIP
GRIP
in3
.013
.9
.027
.032
.036
2.3
.068
.092
.110
6.2
.252
.306
.30
17.0
.576
.774
size of part being picked up, shape of part, texture of part, speed at
which part is transferred, working pressure, shape of finger pads,
etc. PHD recommends that the fingers or jaws be tooled or
machined to conform to the shape of the part being gripped.
PRESSURE (psi) x GF
= FORCE (lb)
NOTE: Gripping force is defined as the maximum value at which the
jaws will not move from their gripping position. The above figures
are based on calculations and will vary slightly due to friction.
Gripping force is proportional to input pressure.
SEALS AND FLUIDS
Buna-N seals are standard on all Series 8400 Grippers. Piston
and rod seals are quad type seals. These seals are compatible with
standard paraffin-base hydraulic fluids used for lubrication of air
cylinders. Fluoro-Elastomer seals in place of Buna-N are optional for
special applications. Consult PHD for high temperature use.
TEMPERATURE LIMITS
temperatures from –20° to 180°F.
BACKLASH
Backlash of each angular gripper jaw will be less than 1°.
Sideplay will be less than .005.
6C
LIFE EXPECTANCY
All units have been tested to 5 million cycles with minimum
seal wear and minimum backlash.
LUBRICATION
Piston and rod as well as gripping mechanism are
prelubricated at the factory for service under normal conditions.
MATERIAL
Angular gripper body is made of hardcoated aluminum. Jaws
are steel. The optional finger blanks are anodized aluminum or
Delrin AF. All central pivot components are alloy steel.
SPECIAL UNITS
For grippers for special applications, severe duty or special
6C-6
(800) 624-8511
CAT-03
SOLUTIONS FOR
6C
NOTES
6C-7
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/190a
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
PART NO.
MODEL NO.
18057-04
19002
18058-04
19012
18059-04
19022
18060-04
19032
Not available with spring option.
DESCRIPTION
PART NO.
18430-001-02 4 mm Round Current Sinking (NPN)
18430-002-02 4 mm Round Current Sourcing (PNP)
See Switches and Sensors section for details.
NOTES:
1) Hall Sensor must be used with a PHD Set Point Module which is ordered
separately. See Switches and Sensors section for information and ordering data.
2) Proximity switches, bracket kits, and finger kits must be ordered separately.
Includes one each: target,
bracket, and screw
MODEL NO. PART NO.
18074
19002
18090
19012
18075
19022
18091
19032
MODEL NO. PART NO.
19002
18070
19012
18071
19022
18072
19032
18073
HALL EFFECT SENSOR KITS
SEALS
PROXIMITY SWITCHES
SENSOR OR SWITCH OPTIONS
4 - Hall Effect Sensor Ready (See note 1.)
(Not available with spring option)
(4 mm round switches)
PROXIMITY SWITCH
BRACKET & TARGET KITS
BORE
in
mm
.343
9
.500 12.5
.750
20
1.00
25
FINGER KITS
MODEL
NO.
19002
19012
19022
19032
OPTIONS
SPRING OPTIONS
0 - None
1 - Spring close (Single acting only)
2 - Spring open
(Can be used as double acting)
Options -1 and -2 not available on
Model 19002
19002 - 5 - 4 0 0 2
DESIGN NO.
TO ORDER SPECIFY:
Model, Design No., Sensor or Switch Options,
Spring Options, and Seals.
6C
F
6C-8
SOLUTIONS FOR
BENEFITS: SERIES 190 ANGULAR GRIPPERS
SPECIFICATIONS
MINIMUM PRESSURE
SERIES 190
30 psi [2 bar]
■
Compact size for handling small parts in confined areas.
MAX. PRESSURE
■
Double acting for either internal or external gripper
applications.
JAWS
Steel
BODY
Hardcoated Aluminum
■
Rugged jaw and body construction to withstand high impact
and shock loads.
■
requirements.
ROD BEARING
SEALS
LUBRICATION
PORTS
OPTIONS
■
Hardened steel pivot mechanism for long life beyond 10 million
■
Close tolerance jaw mechanism minimizes jaw play and dowel
pin holes allow precise positioning of tooling.
■
The gripper body has three mounting surfaces with dowel pin
holes providing accurate mounting in a variety of attitudes.
■
the field.
■
Available with a PHD Hall Effect Sensor or with PHD Hall Effect
Proximity Switches for indication of jaw position and
interfacing with various controllers and logic systems.
■
Available with finger blanks for machining to suit specific
applications.
150 psi [10 bar]
Delrin AF
6C
BENEFITS
Quad Type
Permanent for Dry Air
Straight Thread
Proximity Switches, Hall Sensor,
Finger Blanks
6C-9
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/190a
DIMENSIONS: SERIES 190 ANGULAR GRIPPERS
8X Q THREAD
LETTER
DIM.
B
C
D
E
F
G
H
K
L
M
O*
P*
Q
P
R
S
U
W
Y
Z
AA
BB
CC
DD
EE
FF
6X CLEARANCE HOLE
FOR W DOWEL PIN
5
P
SEE PROXIMITY
SWITCH OPTION
PAGE FOR DETAIL
19002
20.0
5.0
3.5
7.0
6.0
M2.5 x 0.45
13.5
16.0
3.0
6.5
14.0
14.0
M3 x 0.5
x 4.5 mm
30.5
2.5
2.0
2.5
6.0
M3
10.0
M3 x 0.5
3.5
13.5
4.6
2.5
MODEL NO.
19012
19022
26.0
38.0
6.5
8.0
5.0
6.5
9.0
14.0
8.0
12.0
M3 x 0.5
M4 x 0.7
17.0
24.0
19.5
28.0
3.5
4.5
8.0
13.0
18.0
22.0
18.0
28.0
M3 x 0.5
M4 x 0.7
x 4.5 mm
x 6 mm
35.0
43.0
4.0
5.0
2.5
3.0
3.0
4.0
7.0
9.0
M3
M4
12.0
17.0
M3 x 0.5
M5 x 0.8
3.5
4.5
14.5
14.5
4.6
7.0
2.5
3.0
19032
50.0
12.0
8.0
19.5
16.0
M5 x 0.8
26.5
36.0
5.5
12.5
28.0
39.0
M5 x 0.8
x 7.5 mm
51.0
6.5
4.0
5.0
11.0
M5
22.9
M5 x 0.8
5.0
19.5
10.0
3.0
* TOLERANCE BETWEEN DOWEL PIN HOLES IS ±0.02
6C
2X THRU Ø AND
C’BORE FOR Z SHCS
EE MAX
GRIPPER MECHANISM
WHEN JAWS ARE
FULLY OPENED
H
JAW
PIVOT
POINT
F/2
AA
F
CLEARANCE HOLE
FOR U DOWEL PIN
1X EACH JAW
2X G THREAD
THRU EACH JAW
E
13˚ MIN
L
Y
4˚ MIN
6
BB PORT FITTING
FOR FF I.D. TUBE IS
SUPPLIED WITH UNIT
1
REF JAW POINT
CENTERLINE
DD
CC
REF JAW POINT
CENTERLINE
D
P
B
4
O
M
S
2
3
C
K
R
6C-10
(800) 624-8511
www.phdinc.com/190a
CAT-03
SOLUTIONS FOR
OPTIONS & ACCESSORIES: SERIES 190 ANGULAR GRIPPERS
4
HALL SENSOR READY
GRIPPER
MODEL
19002
19012
19022
19032
Provides unit installed with magnet for use
with PHD Hall sensor.
KIT
NO.
18057-04
18058-04
18059-04
18060-04
LETTER DIMENSION
A
B
C
36.5
16.5
20.0
39.5
14.0
25.0
46.0
7.6
38.0
58.0
7.6
50.0
EACH HALL SENSOR KIT CONTAINS THE
FOLLOWING ITEMS:
1 SENSOR WITH 4 m SHIELDED CABLE
9.5
5.0
B
C
SENSOR MAY BE ROTATED TO ALLOW CABLE TO
EXTEND FROM ANY SIDE OF UNIT EXCEPT THE
PORT SIDE.
A
5
GRIPPER
MODEL
19002
19012
19022
19032
This option provides the gripper with an extended jaw pivot pin
for use with a switch target. This pin and target are intended for use
with a 4 mm round proximity switch with a 0.8 mm sensing range.
Switches and Bracket and Target kits are ordered separately. See
Switches and Sensors section for Proximity Switch details and
additional information on switch bracket/target kits.
KIT
NO.
18074
18090
18075
18091
LETTER DIMENSION
A
B
C
20.5
8.0
6.0
24.5
10.2
6.0
15.3
20.0
7.5
15.5
31.1
7.5
EACH PROXIMITY SWITCH KIT CONTAINS THE
FOLLOWING ITEMS:
1 TARGET WITH SCREW
1 SWITCH BRACKET WITH SCREW
PROXIMITY SWITCHES ARE ORDERED
SEPARATELY.
9.0 MAX
6.5
0.8 MAX
SENSING
DISTANCE
C
8.0 RAD
A
25,0
6C
7.0 x 0.38 DP
2.5 x 0.45 x 3.5 (2x)
B
OPTIONAL
4 mm Ø PROXIMITY SWITCH
WITH 2 m CABLE LENGTH
SLOT DETAIL FOR
SWITCH BRACKET
FINGER BLANKS
H ± 0.01 Ø
FIXTURING HOLE
2X J Ø THRU
A
LETTER
DIM.
A
B
C
D
E
F
G
H
J
K
L
19002
24.5
9.5
6.5
6.0
3.0
3.0
5.0
1.97
2.9
4.5
3.0
KIT NO.
18070
MODEL NO.
19012
19022
38.0
51.0
12.0
18.0
9.0
14.0
8.0
12.0
4.0
6.0
3.0
4.0
6.5
8.0
2.47
2.97
3.4
4.5
7.0
11.0
3.0
4.0
BLANK FINGER KITS
18071
18072
19032
63.5
25.0
19.5
16.0
8.0
5.0
12.0
3.97
5.6
14.0
5.0
18073
EACH FINGER KIT CONTAINS THE FOLLOWING ITEMS:
2 ALUMINUM FINGER BLANKS
2 DOWEL PINS
E
D
G
F
K
C
L RAD
B
SOLUTIONS FOR
6C-11
(800) 624-8511
CAT-03
www.phdinc.com/190a
ENGINEERING DATA: SERIES 190 ANGULAR GRIPPERS
SPECIFICATIONS
GRIPPER
NO.
19002
19012
19022
19032
DISPLACEMENT
cm3
0.2
0.6
2.1
4.9
UNIT WEIGHT
STANDARD SPRING ASSIST
GF
g
g
EXTERNAL GRIP
32
—
43
82
86
115
217
222
450
475
485
942
Size of part being picked up, shape of part, texture of part, speed at
which part is transferred, working pressure, shape of fingers, etc.
PHD recommends that the fingers of jaws be tooled or machined to
conform to the shape of the part being gripped. However, if friction
is the only means by which the part is being held, a minimum 4 to 1
gripping force to part weight ratio should be used.
PRESSURE (kPa) x 0.01 x GF
= FORCE (N)
DISTANCE FROM JAW PIVOT (mm)
PRESSURE (bar) x GF
= FORCE (N)
DISTANCE FROM JAW PIVOT (mm)
SEALS AND FLUIDS
LUBRICATION
Fluoro-Elastomer seals are standard on all angular Series 190
Angular Grippers. Piston and rod seals are quad type seals and are
pneumatic cylinders.
Piston, rod, and gripper mechanism are prelubricated at the
factory for service under normal conditions.
TEMPERATURE LIMITS
MATERIAL
Angular gripper body is made of hardcoated aluminum. Jaws
are steel with all central pivot components manufactured from alloy
steel. Optional finger blanks are gold anodized aluminum.
SPECIAL UNITS
LIFE EXPECTANCY
6C
GF
INTERNAL GRIP
53
153
530
1264
All units have been tested to 10 million cycles with minimal
seal wear and minimal backlash.
special materials are available, consult PHD.
B
A
BACKLASH
Backlash (B) of each angular gripper jaw is less than 1 degree.
Jaw side play (A) is less than 0.20 mm.
6C-12
(800) 624-8511
www.phdinc.com/190a
CAT-03
SOLUTIONS FOR
6C
NOTES
6C-13
SOLUTIONS FOR
(800) 624-8511
CAT-03
www.phdinc.com/190a
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
METRIC MODEL
3 JAW ANGULAR
8625 - Size 2
8635 - Size 3
8645 - Size 4
8655 - Size 5
OPTIONS
OPTIONS
SEALS
1 - Buna-N
SET POINT MODULE
PART NO.
DESCRIPTION
9800-01-0300 4.5-24 VDC, Sink Type Output
9800-01-0400 4.5-24 VDC, Source Type Output
OPTIONS
0 - None
3 - Hall Sensor
4 - Sensor Ready
NOTE: Sensor must be used with a PHD Set
Point Module which is ordered separately.
See Switches and Sensors section for information
and ordering data.
IMPERIAL MODEL
3 JAW ANGULAR
8624 - Size 2
8634 - Size 3
8644 - Size 4
8654 - Size 5
DESIGN NO.
8624 - 01 - 0 0 0 1
TO ORDER SPECIFY:
Model, Design No., Options, and Seals.
6C
ORDERING DATA: SERIES 8600 3 JAW GRIPPERS
F
6C-14
SOLUTIONS FOR
BENEFITS: SERIES 8600 3 JAW GRIPPERS
SPECIFICATIONS
WORKING PRESSURE
■
■
■
■
Double-acting for either internal or external gripper
applications.
BODY
PIVOT COMPONENTS
and shock loads.
JAWS
3 JAW
20 psi Min. - 150 psi Max. Air
[1.5 bar Min. - 10 bar Max. Air]
Hardcoated Aluminum
Black Anodized Aluminum
ROD BUSHINGS
Bronze
Each available in four sizes to cover a wide range of application
requirements.
PISTON SEALS
Quad Type
ROD SEALS
Block Vee
Close tolerance jaw mechanism minimizes jaw play.
LUBRICATION
PORTS
■
Mounting surfaces with dowel holes allow easy, accurate
mounting in a variety of attitudes.
■
the field.
■
Hardened steel pivot mechanism provides long life.
■
Available with Hall Effect Sensor for indication of jaw position
■
Designed for applications where gripper weight and size is
critical.
OPTIONS
6C
BENEFITS
1/8 NPT [1/8 BSP]
Hall Sensor
6C-15
SOLUTIONS FOR
(800) 624-8511
CAT-03
DIMENSIONS: SERIES 8600 3 JAW GRIPPERS
2X HOLE
FOR W
DOWEL PIN
4X Q THREAD
MODEL NUMBER
1
O
Z
2
N* P SQ 4
H
J
K
L
M
N*
O
P
Q
T
U*
C DIA
3
R
S
T
U*
V
W
5
V SQ
P
6X Q THREAD
R
REF JAW PIVOT
CENTERLINE
M
AA
X
L
S
F
6C
6
D
K
X
Y
Z
AA
CC
DD
8624
8625
8634
8635
in
mm
in
mm
31.5
1.587
1.246
40.5
76.0
3.750
3.000
95.0
13.0
.750
.500
19.0
0.5
.231
.020
6.0
11.0
.625
.437
16.0
10-24 x M5 x 0.8 1/4-20
M6 x 1
.28 DP x 7.0 DP x .38 DP x 9.5 DP
27.0
1.250
1.057
32.0
14.0
.906
.550
23.0
16.5
.813
.640
20.5
20.5
.816
.813
21.0
40.0
1.788
1.563
45.5
17.78
.7500
.7000
19.05
7.0
.375
.275
9.5
31.5
1.500
1.250
38.0
10-24 x M5 x 0.8 1/4-20 x M6 x 1.0
.38 DP x 9.5 DP .38 DP x 9.5 DP
55.5
2.476
2.188
63.0
8.0
.434
.307
11.0
17.5
.875
.687
22.0
34.92
1.7500
1.3750
44.45
44.5
2.250
1.750
57.0
5/32 x 4.0 x 5.0 3/16 x 5.0 x 6.5
.250 DP
.187 DP
22.0
1.125
.875
28.5
30.0
1.500
1.188
38.0
8.5
.375
.350
9.5
0.5
.062
.017
1.5
9.5
.410
.375
10.5
16.0
.690
.625
17.5
8644
in
2.022
4.750
.875
.187
.750
5/16-18 x
.44 DP
1.625
1.000
.968
.940
2.025
1.1250
.312
1.750
5/16-18 x
.44 DP
2.900
.560
1.094
2.1880
2.750
1/4 x
.250 DP
1.375
1.875
.562
.095
.440
.895
8645
mm
51.5
120.5
22.0
5.0
19.0
M8 x 1.25
x 11.0 DP
41.0
25.5
24.5
24.0
51.5
28.57
8.0
44.5
M8 x 1.25
x 11.0 DP
73.5
14.0
27.5
55.57
70.0
7.0 x 6.5
35.0
47.5
14.0
2.5
11.0
23.0
8654
in
2.594
6.250
1.000
.063
1.000
3/8-16 x
.56 DP
2.312
1.118
1.200
1.246
2.619
1.7500
.500
2.750
3/8-16 x
.56 DP
3.806
.754
1.562
3.1250
4.000
5/16 x
.312 DP
1.700
2.430
.875
.150
.570
1.240
8655
mm
66.0
159.0
25.5
1.5
25.5
M10 x 1.5
x 14.0 DP
59.0
28.5
30.5
31.5
66.5
44.45
13.0
70.0
M10 x 1.50
x 14.0 DP
96.5
19.0
39.5
79.37
101.5
8.0 x 8.0
43.0
62.0
22.0
4.0
14.5
31.5
NOTES:
1) *TOLERANCE IS ±.0005 [±0.012]
4X Q THREAD
EACH JAW
F
J
Y
LETTER
DIM
B
C
D
E
F
G
6.5° MIN
E
H
6.5° MIN
B
DD
CC
2X 1/8 NPT [1/8 BSP]
120°
OPTIONAL HALL SENSOR
LOCATION
6C-16
(800) 624-8511
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES 8600 3 JAW GRIPPERS
SPECIFICATIONS
3 JAW GRIPPERS
UNIT
GF EXTERNAL
GRIPPER DISPLACEMENT WEIGHT
GRIP
NO.
in3
cm3
lb
kg IMPERIAL METRIC
862x
.170 2.79 1.43 0.65 .43
705
863x
.415 6.80 2.74 1.24 1.18 1946
864x
1.074 17.60 5.25 2.38 3.18 5221
865x
3.286 53.86 9.90 4.49 10.07 16502
GF INTERNAL
GRIP
NOTE: Maximum load that grippers can handle will vary based
on: size of part being picked up, shape of part, texture of part,
speed at which part is transferred, working pressure, shape of
fingers, etc. PHD recommends that the fingers of jaws be tooled
or machined to conform to the shape of the part being gripped.
IMPERIAL METRIC
.59
941
1.43 2346
3.69 6061
11.34 18581
PRESSURE (psi) x GF
= FORCE (lb)
PRESSURE [bar] x GF
= FORCE [N]
NOTE: Gripping force is defined as the maximum value at which
the jaws will not move from their gripping position. The above
figures are based on actual measured results; figures may vary
slightly due to friction. Gripping force is proportional to input
pressure.
SEALS
LUBRICATION
Buna-N seals are standard on all 8600 angular gripper piston,
rod, and bushing seals. Neoprene seals are used on the gripping
mechanism. Rod seals are wear compensating block vee type and
piston seals are quad type. These seals are compatible with
standard paraffin-base hydraulic fluids used for lubrication of air
cylinders. Fluoro-Elastomer seals in place of the Buna-N are
optional for various types of hydraulic fluids. Consult PHD for
high temperature use.
Piston and rod as well as gripping mechanism are
prelubricated for service under normal conditions and can be used
for non-lube service. At five million cycles, gripper may be
relubricated for extended life.
MATERIAL
TEMPERATURE LIMITS
temperatures from –20° to 180°F [–30° to 82°C]. Consult PHD for
higher temperature requirements.
REPEATABILITY
BACKLASH
SPECIAL UNITS
Grip repeatability is within .002 [0.05 mm] of original centered
position.
Backlash of gripper jaw will be less than 0.2° initially, per jaw.
LIFE EXPECTANCY
working conditions. Life can be extended by relubricating ball and
socket joint after five million cycles. Backlash after five million
cycles should be no more than 1°.
6C-17
SOLUTIONS FOR
(800) 624-8511
CAT-03
6C
Gripper body is made of hard coated aluminum. Jaw housings
are anodized aluminum and the jaws are aluminum alloy. All internal
jaw mechanisms are manufactured from alloy steel.
OPTIONS: SERIES 8600 3 JAW GRIPPERS
3
4
SENSOR/TRANSDUCER
PHD offers a solid-state sensor transducer option -3 along
with a Set Point Module for sensing four or more positions
throughout the jaw travel. The Set Point Module allows independent
adjustment of each sensing position and is available for 4.5 to 24
VDC NPN or PNP.
SET POINT MODULE
PART NO.
9800-01-0300
9800-01-0400
DESCRIPTION
6C
6C-18
(800) 624-8511
CAT-03
SOLUTIONS FOR
6C
NOTES
6C-19
SOLUTIONS FOR
(800) 624-8511
CAT-03
(800) 624-8511
CAT-03
TO
NE
PRO
D
E
D
S
CT
U
CUS
T
IT
M
O
0347-
SENSORS & SWITCHES
None
Hall Sensor (See note 1.)
Hall Sensor Ready
Hall Effect Magnet on piston
and “T” slot on body for
Series 5360 Hall Switches
JAW STYLE 2
15323 - Size 2
15333 - Size 3
15343 - Size 4
15353 - Size 5
JAW STYLE 2
15321 - Size 2
15331 - Size 3
15341 - Size 4
15351 - Size 5
OPTIONS
DESCRIPTION
PART NO.
53603-1-02 NPN (Sink) 4.5-24 VDC, 2 meter Cable
53604-1-02 PNP (Source) 4.5-24 VDC, 2 meter Cable
53623-1
53624-1
See Switches and Sensors section for switch information.
DESIGN NO.
NOTES:
1) Sensor must be used with a PHD Set Point Module
which is ordered separately. See Switches and Sensors
section for information and ordering data.
2) Proximity Switches, Bracket Kits, and Finger Blanks
must be ordered separately.
METRIC MODEL
JAW STYLE 1
15322 - Size 2
15332 - Size 3
15342 - Size 4
15352 - Size 5
IMPERIAL MODEL
JAW STYLE 1
15320 - Size 2
15330 - Size 3
15340 - Size 4
15350 - Size 5
SEALS
1 - Buna-N
OPTIONS
0 - None
LIGHT SPRING FORCE
3 - Spring Close
4 - Spring Open
HEAVY SPRING FORCE
5 - Spring Close
6 - Spring Open
15321 - 1 - 3 0 0 2
TO ORDER SPECIFY:
Model, Design No., Switches,
Options, and Seals.
6C
F
6C-20
SOLUTIONS FOR
BENEFITS: SERIES 5300 ANGULAR OVAL GRIPPERS
SPECIFICATIONS
MEDIA
■
applications.
■
Optional internal springs allow the unit to be used as a singleacting gripper, for additional grip force, or for grasping an
object without air pressure.
■
■
■
Close tolerance jaw mechanism minimizes jaw play.
25 psi [1.5 bar] without Spring Option
40 psi [3.0 bar] with Light Spring Option
65 psi [4.5 bar] with Heavy Spring Option
MAX. PRESSURE
150 psi [10 bar] Air
JAWS
Steel
BODY
Hardcoated Aluminum
ROD BUSHING
PISTON SEAL
ROD SEALS
requirements.
PORTS
OPTIONS
■
Available with a PHD Hall Effect Sensor or with PHD Hall Effect
Proximity Switches for indication of jaw position and
interfacing with various controllers and logic systems.
SOLUTIONS FOR
Lubricated Air
MINIMUM
PRESSURE
REQUIREMENTS
PIVOT COMPONENTS
Hardened steel pivot mechanism provides long life and
low maintenance.
SERIES 5300
Hardcoated Aluminum
Quad Type
Block Vee with Back-up Ring
NPT [BSP]
Hall Sensor, Series 5360 Switches,
Spring Assist - Light or Heavy
(800) 624-8511
CAT-03
6C
BENEFITS
6C-21
DIMENSIONS: SERIES 5300 ANGULAR OVAL GRIPPER - JAW STYLE 1
MODEL NUMBER
15322
LETTER 15320
in
mm
DIM
46.0
A*
1.812
44.5
B
1.750
19.1
D
.750
38.1
F
1.500
5
G
#10
27.0
H
1.062
61.9
K
2.438
22.2
M
.875
31.8
P
1.250
Q
10-24 x M5 x 0.8
.38 DP x 9.7 DP
77.8
R
3.063
7.9
S
.312
29.4
T
1.156
58.7
U
2.312
72.2
V
2.843
M6
W
1/4
54.0
X
2.126
7.2
Y
.285
45.2
Z
1.781
17.5
AA
.688
BB
10-32 M5 x 0.8
14.3
CC
.562
11.2
DD
.440
3.2
EE
.125
71.4
FF
2.810
44.5
GG
1.75
CLOSE
CL
OPEN
CL
4X Q THREAD
P SQ
5
V
FF
U
T
2X SLOTS FOR
OPTIONAL
HALL SWITCH
2X THRU DIA
& C'BORE
FOR W SHCS
FROM BOTH SIDES
R
M
JAW PIVOT
REF
15330
15332
in
mm
63.5
2.500
57.2
2.250
22.2
.875
50.8
2.000
M6
1/4
38.1
1.500
86.1
3.390
27.0
1.062
38.1
1.500
1/4-20 x M6 x 1 x
9.7 DP
.38 DP
95.2
3.749
11.1
.438
42.8
1.687
85.7
3.375
102.4
4.031
M8
5/16
75.0
2.952
11.4
.450
57.9
2.281
22.9
.900
1/8 NPT 1/8 BSP
19.1
.750
12.7
.500
4.1
.160
101.6
4.000
57.2
2.25
15340
15342
in
mm
88.9
3.500
69.9
2.750
25.4
1.000
69.9
2.750
M8
5/16
50.8
2.000
116.5
4.587
30.1
1.187
44.5
1.750
5/16-18 x M8 x 1.25
.44 DP x 11.2 DP
109.5
4.312
14.3
.562
60.3
2.375
120.7
4.750
140.5
5.531
M10
3/8
102.2
4.025
15.2
.598
70.6
2.781
33.3
1.312
1/8 NPT 1/8 BSP
23.8
.937
15.1
.590
5.1
.200
139.7
5.500
69.9
2.75
15350
in
5.125
4.000
1.500
3.500
3/8
2.875
5.734
1.625
2.750
3/8-16 x
.56 DP
5.875
.845
3.250
6.500
7.531
1/2
4.859
.688
4.031
1.750
1/4 NPT
1.625
.760
.250
7.500
3.96
15352
mm
130.2
101.6
38.1
88.9
M10
73.0
145.6
41.3
69.9
M10 x 1.5
x 14.2 DP
149.2
21.5
82.6
165.1
191.3
M12
123.4
17.5
102.4
44.5
1/4 BSP
41.3
19.3
6.4
190.5
100.5
S
EE MAX GRIPPER
MECHANISM
K
X
6C
CL
A*
Y
H
11.5˚ MIN
6
1.5˚ MIN
1
2X THRU DIA & C'BORE
FOR G SHCS EACH JAW
4 B
2
D
F
Z
AA
CL
CC
REF JAW PIVOT
CENTERLINE
3
GG
DD
2X BB PORT FROM
OPPOSITE SIDE
OPTIONAL HALL
SENSOR LOCATION
*GRIPPER JAWS: SHOWN AT PARALLEL POSITION
6C-22
(800) 624-8511
CAT-03
SOLUTIONS FOR
DIMENSIONS: SERIES 5300 ANGULAR OVAL GRIPPER - JAW STYLE 2
MODEL NUMBER
CLOSE
CL
OPEN
CL
4X Q THREAD
P SQ
2X THRU DIA & C'BORE FOR
W SHCS FROM BOTH SIDES
5
V
FF
U
T
2X SLOTS FOR
OPTIONAL HALL
SWITCH
R
JAW PIVOT
REF
M
S
X
LETTER 15321
in
DIM
3.937
A*
1.750
B
.750
D
.231
E
.625
F
1/4-20 x
G
.38 DP
1.062
H
.906
J
.813
K
.875
M
1.250
P
10-24 x
Q
.38 DP
3.063
R
.312
S
1.156
T
2.312
U
2.843
V
1/4
W
1.125
X
1.500
Y
1.781
Z
.062
AA
10-32
BB
.562
CC
.440
DD
.125
EE
2.810
FF
1.75
GG
15323
15331
mm
in
100.0
5.000
44.5
2.250
19.1
.875
5.9
.187
15.9
.750
M6 x 1 x 5/16-18 x
9.7 DP
.44 DP
27.0
1.500
23.0
1.000
20.7
.968
22.2
1.062
31.8
1.500
M5 x 0.8 1/4-20 x
x 9.7 DP
.38 DP
77.8
3.749
7.9
.438
29.4
1.687
58.7
3.375
72.2
4.031
M6
5/16
28.6
1.375
38.1
1.875
45.2
2.281
1.6
.095
M5 x 0.8 1/8 NPT
14.3
.750
11.2
.500
3.2
.160
71.4
4.00
44.5
2.25
15333
mm
127.0
57.2
22.2
4.7
19.1
M8 x 1.25
x 11.2 DP
38.1
25.4
24.6
27.0
38.1
M6 x 1 x
9.7 DP
95.2
11.1
42.8
85.7
102.4
M8
34.9
47.6
57.9
2.4
1/8 BSP
19.1
12.7
4.1
101.6
57.2
15341
in
6.236
2.750
1.000
.063
1.000
3/8-16 x
.56 DP
2.000
1.118
1.200
1.187
1.750
5/16-18
x .44 DP
4.312
.562
2.375
4.750
5.531
3/8
1.700
2.430
2.781
.150
1/8 NPT
.937
.590
.200
5.500
2.75
15343
mm
158.4
69.9
25.4
1.6
25.4
M10 x 1.5
x 14.2 DP
50.8
28.4
30.5
30.1
44.5
M8 x 1.25
x 11.2 DP
109.5
14.3
60.3
120.7
140.5
M10
43.2
61.7
70.6
3.8
1/8 BSP
23.8
15.1
5.1
139.7
69.9
15351
15353
in
mm
218.7
8.610
101.6
4.000
38.1
1.500
0.0
0.00
38.1
1.500
1/2-13 x M12 x 1.75
.75 DP x 19.0 DP
73.0
2.875
36.3
1.430
42.7
1.680
41.3
1.625
69.9
2.750
3/8-16 x M10 x 1.5 x
14.2 DP
.56 DP
149.2
5.875
21.5
.845
82.6
3.250
165.1
6.500
191.3
7.531
M12
1/2
61.7
2.430
87.1
3.430
102.4
4.031
7.6
.300
1/4 NPT 1/4 BSP
41.3
1.625
19.3
.760
6.4
.250
190.5
7.500
100.5
3.96
K
H
J
6
6C
Y
EE MAX GRIPPER
MECHANISM
A*
6.5˚ MIN
6.5˚ MIN
REF JAW PIVOT
CENTERLINE
1
E
F
F
AA
CL
D 2
4 B
4X G THREAD
EACH JAW
CL
3
Z
CC
REF JAW PIVOT
CENTERLINE
GG
DD
2X BB PORT FROM
OPPOSITE SIDE
OPTIONAL HALL
SENSOR LOCATION
*GRIPPER JAWS: SHOWN AT PARALLEL POSITION
SOLUTIONS FOR
(800) 624-8511
CAT-03
6C-23
ENGINEERING DATA: SERIES 5300 ANGULAR OVAL GRIPPERS
SPECIFICATIONS
GRIPPER
NO.
1532x
1533x
1534x
1535x
DISPLACEMENT
in3
cm3
.59
9.6
1.78
29.2
4.29
70.3
12.66
207.5
GF
EXTERNAL GRIP
IMPERIAL
METRIC
1.87
3058.0
5.56
9085.0
14.14
23109.0
41.85
68355.0
GF
INTERNAL GRIP
IMPERIAL
METRIC
2.03
3323.0
6.08
9938.0
14.85
24255.0
43.70
71382.0
NOTE: Maximum load that grippers can handle will vary
based on: Size of part being picked up, shape of part,
texture of part, speed at which part is transferred,
working pressure, shape of fingers, etc. PHD
recommends that the fingers of jaws be tooled or
machined to conform to the shape of the part being
gripped.
DOUBLE ACTING
Without Springs
STANDARD
lb
kg
2.40
1.08
4.87
2.2
9.58
4.35
27.73 12.57
SINGLE ACTING
With Spring Close or Spring Open
A
PN
GRIPPER
NO.
1532x
1533x
1534x
1535x
Sf LIGHT
SPRING FORCE
IMPERIAL
METRIC
34.50
3908.0
93.00
10518.0
221.00
24968.0
590.00
66492.0
Sf HEAVY
SPRING FORCE
IMPERIAL
METRIC
49.50
5582.0
157.50
17751.0
366.50
41318.0
1275.00
143796.0
UNIT WEIGHT
SPRING ASSIST
LIGHT
HEAVY
lb
kg
lb
kg
2.5
1.11
2.5
1.12
5.0
2.28
5.1
2.32
10.0
4.53
10.2
4.63
29.5 13.37
29.8
13.53
DOUBLE ACTING
With Spring Assist Open or Close
A
EUM
ATIC
F ORC E
T IC F
PN EUMA
OR C
E
S PRING FORCE
SPRING F ORC E
6C
PN EUM
ATIC FORCE
S PRING FORCE
SPRING F ORC E
+
P NEUMATIC FOR C E
P NEU MATIC FOR C E
+
PN EUM
ATIC FORCE
CONVENTIONAL
AREA
PN EUM
ATIC FORCE
SECTION A-A TYPICAL
Guards against failure due to unforeseen
pneumatic pressure loss.
GRIP FORCE EQUATIONS:
1.
All Grippers are double acting.
2.
To calculate grip force on units without springs, complete the
appropriate equation, but leave out the Spring Force (Sf).
FORCE (lb) =
FORCE (lb) =
FORCE (N) =
FORCE [N] =
[PRESSURE (bar) x GF ] – Sf
PRESSURE [bar] x GF
To calculate grip force on units with springs, complete the
appropriate equation, including Sf. Add Sf if the springs are
working with applied pressure.
FORCE (lb) =
[PRESSURE (psi) x GF ] – Sf
PRESSURE (psi) x GF
3.
Provides up to four times the gripping
force of conventional grippers of the
same size.
3. (continued)
Subtract Sf if the springs are working against applied pressure.
FORCE [N] =
P NEUMATIC FOR C E
NOTE: Gripping force is defined as the maximum value at which the
jaws will not move from their gripping position. The above figures
are based on actual measured results; figures may vary slightly due
to friction. Gripping force is proportional to input pressure.
[PRESSURE (psi) x GF ] + Sf
[PRESSURE (bar) x GF ] + Sf
6C-24
(800) 624-8511
CAT-03
SOLUTIONS FOR
ENGINEERING DATA: SERIES 5300 ANGULAR OVAL GRIPPERS
SEALS AND FLUIDS
LIFE EXPECTANCY
Buna-N seals are standard on all Series 5300 gripper piston,
rod, and bushing seals. Neoprene seals are used on the gripping
mechanism. Piston and rod seals are wear compensating quad type
seals. These seals are compatible with standard paraffin-based
hydraulic fluids used for lubrication of air cylinders or as power
source for hydraulic actuators. Fluoro-Elastomer seals in place of
the Buna-N are optional for various types of hydraulic fluids.
working conditions. Life can be extended by relubricating ball and
socket joint after five million cycles. Backlash after twenty million
cycles should be no more than 1°.
TEMPERATURE LIMITS
MATERIAL
Gripper body is made of hardcoated aluminum. Jaw housings
are anodized aluminum and the jaws are high strength steel. All
internal jaw mechanisms are manufactured from alloy steel.
SPECIAL UNITS
BACKLASH
Backlash of gripper jaw will be less than 0.2° initially, per jaw.
REPEATABILITY
centered position.
3
4
SENSOR/TRANSDUCER
PHD offers a solid-state sensor transducer option –3 along
with a set point module for sensing four or more positions
throughout the jaw travel. The set point module allows independent
adjustment of each sensing position and is available for 4.5 to 24 VDC
NPN or PNP.
SET POINT MODULE
DESCRIPTION
6C
PART NO.
9800-01-0300
9800-01-0400
7
HALL EFFECT MAGNET
Equips piston with magnets and “T” slot on body for Series
5360 Switches.
SOLUTIONS FOR
(800) 624-8511
CAT-03
6C-25
6C
NOTES
6C-26
(800) 624-8511
CAT-03
SOLUTIONS FOR

series grb grippers

Transcription

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