Harmo Robot Parts
Lever Type Gripper
Features
Space saving, light-weight, and high cycling are achieved by compact oval cylinder.
Plastic type is light-weight and die casting type is superior in duarability.
Due to side-sliding of proximity switch, adjustment to work piece enables operation or clamping to be
confirmed by LED lightening (sensor type).
Production of attachment is not neccesary since finger tool is provided (finger tool type).
Construction
Spring(SWP single acting normally open type)
Top cover
(aluminum die casting)
Piston(polyacetal resin)
Piston packing
(nitrile rubber)
Rod packing
(nitrile rubber)
Spring(SWP single acting normally close type)
Cylinder(polyamide resin or zinc die casting)
Fulcrum shaft (stainless steel)
Rack(chromium-molybdenium steel)
Jaw(chromium-molybdenium steel)
Gripper specification
HC 15 P HC 20 P HC 20 D HC 30 D
Type
Double acting,single acting
Operation type
compressed air (no lubrication)
Fluid admitted
Service pressure range 28.4~85.2psi (0.2~0.6MPa) 28.4~100psi (0.2~0.7MPa)
14~140°F (-10~60°C)
Service temperature range
M5×0.8
Port size
0.67in.2 (4.3cm2)
Cylinder cross sectional area 0.33in.2 (2.1cm2)
1.36in.2 (8.8cm2)
±0.1 (Center of Jaw)
Repeated accuracy
100 C.P.M.
Max-operation cycle
Option
Type
Mounting bracket (B)
Sensor (S)
Sensor specification
Power supply
Power consumption
HC 15
Output
Operation indicator
Operation ambient temperature
Cable
P
HC 20
P HC 20
-
D HC 30
-
D
12~24V DC
15mA or below
NPN Transistor Open collector
Max. input currect 100mA
Input voltage 30V DC or below
Red LED(light up when Output is ON)
14~131°F (-10~+55°C)
0.08SQ 3 wire 1m
Input / Output circuit
color of relay wire
D
+V(Red)
Main circuit
ZD
Reley
Output (White)
100mA.MAX.
Tr
Internal circuit
12~24V DC
±10%
Code
D : protection diode for reversed power supply
ZD : Zener diode for surge voltage absorption
Tr : output transistor
OV(Black)
Reley contact example
H-3
Selection
Lever torque (theoretical value)
Theoretical grip force can be calculated
formula.
M
F=F : Theoretical grip force (kgf)
L
Open force
Close force
60
56.0
50.4
30
40
M : Lever torque(kgf·cm)
L : Distance between jaw fulcrum to grip point (cm)
Caution) The graph represents theoretical
calculations.
Actual grip force
varies according to the material
and shapes of work pieces and
fingers. The standard grip force is
40 to 60% of the theorefical value.
HC
Lever torque (kgf·cm)
50
30
24.5
23.1
20
16.0
14.4
20
L
HC
by the following
10
7.0
6.6
2.4
2.0
1
7.0
6.0
HC 15
2
3
4
5
2
Pressure (kgf/cm )
Model designation (Example)
6
7
8
HC 15
(1)
A
(2)
(1)Cylinder cross sectional area
Code
15
P
(3)
-S
(4)
(3)Body material
Cylinder cross 0.33in.2 (2.1cm2) 0.67in.2 (4.3cm2) 1.36in.2 (8.8cm2)
sectional area
20
30
Code
Body material
(2)Operation type
(4)Option
Code
A
B
C
Operation type Double acting Single acting normally open Single acting normally closed
Code
Option
P
Plastic
D
Die casting
B
With bracket
S
With sensor
*Enter only when necessary.
Model designation of finger tool type (Example)
HC 20B
(1)Body material
Code
Body material
P × -S
(1)
(2)
(2)Option
P
Plastic
D
Die casting
Code
Opetion
B
With bracket
*Enter only when necessary.
H-4
S
With sensor
Mounting of gripper
(1)Mount on the top of gripper
(2)Mount from the side of plastic body type gripper
HC 15
P·HC 20
P
possible for all types
(3)Use of mounting bracket (option)
(4)Mount from the side of die casting body type gripper
HC 20
HC 15
P·HC 20
D·HC 30
D
P
Mounting and adjustment of sensor
(1)
(2)
OFF
ON
(3)
Switch Mounting plate
Proximity Switch
OFF
Dog
The sensor can be slided in the direction of the arrow.
Adjust the location of the sensor so that the sensor is
turned OFF in the state (1) and(3) and turned ON in the
state (2)
! Safety instruction
1. Use clean and low moisture air as supply air to the grippers.
2. Making clamping of gripper as slow and gentle as possible yields acurate motion and stable cycling.
3. Avoid lateral loading to the jaw during operation.
4. Attach light-weight and short finger tool to the jaw.
H-5
HC
15·20·30
Lever Type Gripper
Main body
Bracket
4-φ3.5
4-φ4.5
22
(24)
B3
2-M5 Depth 5
(Port)
4-G
(Tapped hole for mounting)
H
2-R2
28
(34)
22
(27)
D2
E2
E3
B2
B1
F
12
(14)
A1
A2
21
(27.5)
9
(12.5)
4-C
(Tapped hole for mounting)
2-M4
(Press nut)
8-M
16
(20)
28
(34)
N1 N2
D1
J1 J2 J3
E1
4-I
(Tapped hole for mounting)
K1 K2
Top : For HC 15 P
Bottom ( ) : For HC 20
P
L
A1 A2 B1 B2 B3
Model
HC 15
HC 20
HC 20
HC 30
P
P
D
D
D1 D2 E1 E2 E3 F
C
2-R2
G
I
H
P
J1 J2 J3 K1 K2 L
M
N1 N2
19 12 28 22 5 M3(Depth5) 20 35.5 8.5 19 3 12 M3(Depth8) 16
3 8 14 15˚ 10˚ 16 M3(Through) 7 8
25
14 34 24 3 M4(Depth6) 24.5 45 10 23.5 4 14 M4(Depth8) 20
5 10 17 8˚ 8˚ 23 M4(Through) 10 10
24
M4(Depth15)
32 22 52 42 2 M5(Depth6.5) 34 55 12 28 4 22 M5(Depth15) 30 M5(Depth6) 6 16 23 19˚ 10˚ 30 M6(Through) 12 16
HC
15·20
unit:mm
Mass
P
(g)
50
6 -0.05
-0.10
105
8 -0.05
-0.10
180
-0.05
12 -0.10 450
HC
30
Lever Type Gripper
with Sensor 15·20 Type
Lever Type Gripper
with Sensor 30 Type
I
H
C1
C2
C1
C2
F
A
D1
D2
A
G
B2
B1
E
t=2.3
B2
B1
Model
HC 15
HC 20
HC 20
HC 30
P-S
P-S
D-S
D-S
E
2-M4
(Press nut)
t=2.3
unit:mm
A
B1
B2
C1
C2
D1
D2
E
F
G
H
I
59
70
68
86
28
21
25
52
45
30
36
26
34
22
27
-
30
35
-
22
34
37
43
33
51
16
20
-
22
24
-
12
14
-
4-φ3.2 φ6 Counter sinking
4-φ4.2 φ8 Counter sinking
-
H-6 Switch mounting plate acts as main body mounting bracket in HC 15
P and HC 20
P.
25
26
HC
20
Lever Type Gripper
with Figer Tool 20 Type
Main body
34
With Sensor
3
4-φ4.2
(φ8 counter sinking)
14
14
4-M4(Depth 6)
37.5
36
2-M5(Depth 5)
86
2-M4
(Press nut)
7.5
31
41
20
29.5
35.5
11 14
9
4
2-M4(Depth 5)
(HC 20BDX only)
45
23.5
24
24(BDX)
25(BPX)
2-M4(Depth 8)
56.5
24
14
2
24
25°
22
14
34
19.5
3
Note 1.Mounting bracket is available for only HC20BPX as option.
Note 2.Weight: HC20BPX 150g, HC20BPX 225g
Note 3.The specifications, the internal structure,
and the measure with the sensor are the same as those of HC20BP and HC20BD.
H-7