Parallel Mechanical Gripper

HP09L SeriesLong Stroke Type

Selectable Gripping Force
L: Low
M: Medium
H: Highern

al FThroughMounting Hole

Positioning Holeorce

HP09L Series

ExtLong
StrokeParallel Mechanical Gripper (Long Stroke Type)High Rigidity
High Accuracy
Excellent
CENTERING Ａccuracy◆±0.07mm or lessUse ofLINEAR GUIDE◆Withstand load, withstand moment(high rigidity)◆High accuracy(repeat accuracy: ±0.01 mm or less)◆Gripping at a long point and overhang gripping are available.
375

Parallel Mechanical Gripper (Long Stroke Type)

HP09L Series■ Model Code No.

HP09L

10LSeries Name

HP09L Series

Nominal diameter

Gripping Force

8101620

L: Low※Please feel free to consult us about
the grip forces (spring forces) other
M: Mediumthan the ones speciﬁed on the left.
H: High■Internal Structure Diagram

Parallel Mechanical Gripper (Long Stroke Type)376

Parts List

42
87
6

10

Material

51

Main Body

Aluminum Alloy

2

Piston Rod

Stainless Steel

3

3

Pressure Cover

Aluminum Alloy

4

Pressure CoverCarbon Tool Steel

5

SpringSpring Steel

11

6Action Lever

Carbon Tool Steel

7

Fulcrum Pin

Carbon Tool Steel

18

MetalOil-impregnated Sintered Bearing

9Knuckle

Stainless Steel

912NameNO

1310 Roller

Carbon Steel

11 Roller

Carbon Steel

12 Hexagon Socket Head Bolt

Carbon Tool Steel

13 Bearing

Stainless Steel■Speciﬁcations
Elastic Body to be Used

Compression spring

Action Type

Single Acting Normally Close (External force drive at opening)［℃］

Operating Temperature
Lubrication

0〜120
Required (Sliding parts of the machine)

Maximum Operating Cycle［Cycle/min］

180

Centering Accuracy

［mm］

±0.07

Repeat Accuracy

［mm］

±0.01

Applicable Switch

ModelNote）1 Allowable
Outside Dimensions
Nominal Opening/ Gripping
Force Extrusion Extrusion ProductClosing(T x W x L)
diameter Stroke (At Closing) ForceMass
Force［mm］［mm］ ［mm］［g］Note）3 ［N］［N］ ［N］

82.5

124.3

173.4

174.5

21

HP09L-10-H

7.236

HP09L-16-L

4.4

19

HP09L-8-M

88（7.4〜10.6）

HP09L-8-H
HP09L-10-L
SingleActingNormallyClose

HP09L-10-M

HP09L-16-M

101612（10.9〜15.1）

16（15.3〜18.2）

HP09L-16-H
HP09L-20-L
HP09L-20-M

2022（21.1〜24.5）

HP09L-20-H

6.4

32

11.0

49

6.5

32

8.3

40

12.0603034

13×26×42.8

1：250

100

20×45×62.1

1：2130186

25×56×69.8

1：2.2

21036632×73×86.6

1：1.9

Note 1): Extrusion force is an external force required to open the levers completely by overwhelming the spring force in the closing direction.
Note 2): The lever ratio is the "Extruded Distance (how much the rear rod is extruded) and the "Lever Opening Distance (Lever Opening Distanceat that time) (both sides) expressed in "Extruded Distance: Lever Opening Distance".
Note 3): The opening/closing stroke is a reference value. Values in the parentheses are measured values.

Parallel Mechanical Gripper (Long Stroke Type)

1.6

HP09L-8-LNote）2

LeverRatio

HP09L Series

ActionType

Not mountable■Allowable Load and Allowable Moment
FXMA

Load andMoment

Model

MBMCMAMBMCFX［N］ ［N・m］ ［N・m］ ［N・m］

HP09L- 8

120.040.04

0.08

HP09L-10

50

0.4

0.4

0.8

HP09L-10120

112

HP09L-20

200

1.5

1.5

3377

Parallel Mechanical Gripper (Long Stroke Type)

HP09L Series■Eﬀective Gripping Force
HP09L-8-M

102030040

Gripping Point L ［mm］

HP09L-10-L
Gripping Force [N]84202040607020204060801000306090120

Gripping Point L ［mm］

378406070204060

HP09L-10-H

20406070

Gripping Point L ［mm］

100

HP09L-16-H

105020406080

100

Gripping Point L ［mm］

HP09L-20-M

HP09L-20-H
20963040

31580

3060

HP09L-16-M

3209

Gripping Point L ［mm］

Gripping Force [N]Gripping Force [N]42010

Gripping Point L ［mm］

1261260

HP09L-10-M

90

HP09L-20-L82

Gripping Point L ［mm］

Gripping Point L ［mm］

1040212430

40HP09L-16-L620

6

Gripping Point L ［mm］

810

HP09L-8-H

4

Gripping Point L ［mm］

Gripping Force [N]Parallel Mechanical Gripper (Long Stroke Type)

Gripping Force [N]6

Gripping Force [N]HP09L Series

01

Gripping Force [N]12Gripping Force [N]23

Gripping Force [N]36

Gripping Force [N]Gripping Force [N]Gripping Force [N]HP09L-8-L

When the levers are full open
When the levers are full closed

306090120

Gripping Point L ［mm］

151050306090120

Gripping Point L ［mm］

■Gripping Point Limit Range
40L30M201010204030L30M

20H

100

Gripping Point L［mm］

HP09L-16

20406080

40M3020H

100

Gripping Point L［mm］

L5020406080

HP09L Series0H

HP09L-10
Overhang H［mm］

HP09L-8
Overhang H［mm］

Overhang H［mm］

40100

Gripping Point L［mm］

Workpiece
Gripping Point

L60M

H40H

200

L

306090120

Gripping Point L［mm］■Main Body Mounting Example
1

When the through-hole of themain body is used
(For φ16 and φ20, the bolt head
does not protrude from the mainbody.)

2

When the mounting screw on the backside of the through-hole is used

3When the mounting screw on the bottom
face of the main body side is used
(Excluding φ8)

Parallel Mechanical Gripper (Long Stroke Type)

Overhang H［mm］

HP09L-20379

Parallel Mechanical Gripper (Long Stroke Type)

HP09L Series
HP09L-8-□(Positioning Pin)

HP09L Series

When opened：12.0 00
When closed ： 5.4 −0.6

＋3.8＊2■Dimensions

CAD data provided

Parallel Mechanical Gripper (Long Stroke Type)

Depth 3.5

View on Arrow A

Depth 1
(Positioning Hole)Through-HoleNote) ・The allowable extrusion force shall be within the specified range in use.
・Do not hit the cam and the dog against the pressure cover in use.
＊ 1) This dimension allows extrusion. See "Lever Ratio" for the lever opening distance for the extrusion distance.
＊ 2) This is a dimension at the maximum extrusion.

380

CAD data provided

HP09L-10-□(Positioning Pin)

HP09L Series

When opened：19.5 00
When closed ： 9.4 −0.6

＋5.0＊2■Dimensions

Parallel Mechanical Gripper (Long Stroke Type)

Depth 4

Depth 4

Depth 2.5
Depth 4

View on Arrow A

Depth 6
Depth 2.5
(Positioning Hole)

Lower Hole φ3.4 Through-HoleNote) ・The allowable extrusion force shall be within the specified range in use.
・Do not hit the cam and the dog against the pressure cover in use.
＊ 1) This dimension allows extrusion. See "Lever Ratio" for the lever opening distance for the extrusion distance.
＊ 2) This is a dimension at the maximum extrusion.

381

Parallel Mechanical Gripper (Long Stroke Type)

HP09L Series
HP09L-16-□(Positioning Pin)

When opened：27.0 00
When closed ：12.4 −0.6＋3.6＊2■Dimensions

CAD data providedHP09L Series
Parallel Mechanical Gripper (Long Stroke Type)

Depth 5Depth 5Depth 3Depth 5View on Arrow A

Depth 6
Depth 3
(Positioning Hole)

Lower Hole φ3.4 Through-HoleCounterbore: φ6.5 Depth 3.5（from the back face）

Note) ・The allowable extrusion force shall be within the specified range in use.
・Do not hit the cam and the dog against the pressure cover in use.
＊ 1) This dimension allows extrusion. See "Lever Ratio" for the lever opening distance for the extrusion distance.
＊ 2) This is a dimension at the maximum extrusion.
＊ 3) This is used for rod tightening, so it is different from the actual position.

382

CAD data provided

HP09L-20-□(Positioning Pin)

HP09L Series

When opened：36.5 00
When closed ：16.6 −1.0

＋4.6＊2■Dimensions

Parallel Mechanical Gripper (Long Stroke Type)

Depth 7

Depth 7

Depth 3.5
View on Arrow A

Depth 6

Depth 8Depth 3.5
(Positioning Hole)

Lower Hole φ4.2 Through-HoleCounterbore: φ8 Depth 5（from the back face）

Note) ・The allowable extrusion force shall be within the specified range in use.
・Do not hit the cam and the dog against the pressure cover in use.
＊ 1) This dimension allows extrusion. See "Lever Ratio" for the lever opening distance for the extrusion distance.
＊ 2) This is a dimension at the maximum extrusion.
＊ 3) This is used for rod tightening, so it is different from the actual position.

383