Rotor Gripper

RH01 Series

RH01Series

Rotor Gripper◆Complete integration of Rotary
Actuator (2-position/3-position
Stop Type) and various miniaturegrippers (Industry's ﬁrst)◆Free to operate the combinationof gripper rotation and chucking

501Rotor Gripper

RH01 Series
RH01 Series■ Model Code No.

RH01 P 16 C B 90 JN E3 A 2 ※ ZC253 A 3

Rotor Gripper

SeriesName

Number ofSwitches ofGripper

Gripper Type

1:1 Switch
2:2 Switches

G: Parallel (High Rigidity Type)
P: Parallel
O: 180°rotary Type φ16
Only
V: 30°rotary Type｝

Nominal Diameterof Gripper
16：φ16
20：φ20 (B Type only )Gripper Action Type
A：Single Acting Normally Open：P・V Type (φ16 only )C：Double Acting
Rotor Basic Structure
B：2-position Stop Type
D：Multiposition Stop Type (φ16 only )(3-position or 4-position Stop Type)

Rotor Rocking Angle
90： 90°(2-position Stop Type)180：180°(2-position Stop Type)
α：3-position Stop Type2α≦180°α＋β：4-position Stop Type
2α＋β≦180°

Dust-proof Cover Type (P Type only)
No Code: No Cover
JN: With NBR Rubber Cover
JS: With Silicon Rubber Cover
JF: With Fluorine Rubber Cover502

Switch LeadWire Length

Number ofSwitches

Ａ：1m
Ｂ：3m

1:1 Switch
2:2 Switches
3:3 Switches
4:4 Switches

Rotor Switch Type

Number ofSwitches

Switch LeadWire Length

No Code: No Switch̶̶

Rotor Switch TypeZC230：2 Wire System Solid State
ZC253：3 Wire System Solid State
EC22：2 Wire System Solid State
EC23：3 Wire System Solid State

RCA：2 Wire System with Contact 1:1 Switch
No Code：1.5m
RCB：2 Wire System with Contact 2:2 Switches ＬＡ：5m
RCM：2 Wire System Solid State●The RCA, RCB and RCM switches are mountable only
on the rotor basic structure B type.
●Switch details→P.521〜528●Switch mounting→P.538〜539

Switch Lead Wire Length
A：1m
B：3m｝ZE Switch

Switch Type of Gripper
No code: Without switch
E3: ZE235 2 Wire System Solid State Switch, L type
E5: ZE255 3 Wire System Solid State Switch, L type

731

46

RH01 Series■Internal Structure Diagram

37
32627

43

247

44

1920

1041

Rotor Gripper

32

534

22

123

29

1339

1421

CO

15

38

4835

24

1228

45

33

61142

91640

1730

25
36

18

Parts ListNO
12345678910111213
141516Name
MaterialMain Body（H） Aluminum Alloy
Main Body（R） Aluminum Alloy
Aluminum Alloy
Head Cover
Piston Rod（H） Stainless Steel
Piston Rod（R） Stainless Steel
Aluminum Alloy
Piston（H）
Stainless Steel
Piston（R）
Cylinder Tube Stainless Steel
Magnetic Body
Magnet（H）
Magnetic Body
Magnet（R）
Pressure Cover（H） Aluminum Alloy
Pressure Cover（C） Carbon SteelCarbon SteelAction Lever
Fulcrum Pin
Carbon Tool Steel
Press Fit Pin Carbon Tool Steel
Plug
Stainless Steel

NO
1718
1920
21
22
23
24
25
26
27
28
29
30
3132

Name
MaterialNOGasket
Soft Steel ＋ NBR 33
34
Pinion RodCarbon SteelRack
Stainless Steel 3536Rack Piston
Carbon Steel
Case
Aluminum Alloy 37
KnuckleStainless Steel 38
RollerCarbon Tool Steel 39
40
O Ring（H）
NBR
41
O Ring（C）
NBR
42
O Ring（R）
NBR
43
O Ring（R）
NBR
Cross-recessed Round Head Screw Stainless Steel 44
Hexagon Socket Head Setscrew（H） Chrome Molybdenum Steel 45
Hexagon Socket Head Setscrew（H） Chrome Molybdenum Steel 46
Hexagon Socket Head Setscrew（R） Stainless Steel47
Steel Ball
Carbon Tool SteelName
Material
Locating Snap Ring for Shaft Carbon Tool SteelLinear Guide
Bearing SteelBearing
Bearing SteelBearing
Bearing SteelFastener Seal
Soft Steel ＋ NBRHexagon Socket Head Bolt（H） Stainless SteelHexagon Socket Head Bolt（H） Stainless SteelHexagon Socket Head Bolt（C） Stainless SteelHexagon Socket Head Bolt（R） Stainless Steel
Piston Packing（H） NBR
Piston Packing（R） NBR
Piston Packing（R） NBR
NBR
Rod Packing
Carbon SteelHexagon Nut
Hexagon Nut

Brass (hexavalentchrome-free)

Each alphabet indicates as follows: (C): Casing, (H): Gripper and (R): Rotor.

503

Rotor Gripper

RH01 Series
RH01 Series■SpeciﬁcationsRotor
Model

D［mm］Bore Size

GripperB

P16C（A） V16C（A） O16C

G16C

Number of Stop Positions

3 or 4Action TypeDouble Acting

P20C

G20C2016φ14＋φ20
2

Double Acting

Double Acting

Double Acting (Single Acting Normally Open)

FluidAir

Rotor Gripper

Operating Pressure［MPa］ 0.3〜0.7 0.2〜0.7 0.12〜0.7 0.12〜0.7（0.25〜0.7） 0.12〜0.7（0.2〜0.7） 0.2〜0.7
Proof Pressure［MPa］

Operating Temperature ［℃］

0〜60℃［°］ 40°≦2α≦180° 90°
・180°̶Angle Adjustment (Both Sides) ［°］ 0°〜−20°〜−60°＋3°

̶Theoretical Torque Note）1［N・m］ 0.9×P̶Rocking Angle※3

Allowable Energy

0.12〜0.7

1.05

2.8×P

［J］ 1×10−2 3×10−2

̶Opening/Closing Stroke, Rocking Angle

̶10mm

Eﬀective Gripping Force̶

39.034.0（3.9） 16（3）

2160

60.9

̶

26.0

25.5（21） 12（10）184545.7

Open

Air Pressure 0.5［MPa］ N
CloseGripping Point L［mm］Note）2Cushion Structure

None

Lubrication

Not Required

8mm＋30°〜−10°＋180°〜−5° 14mm

12mm

None

Air Cushion

Required (Turbine oil (ISO VG32) shall be used. However, lithium grease may be used as a substitute.)Note) 3

Pipe BoreM5×0.8

Applicable Switch

ZE TypeRC, ZC TypeNote 1): Theoretical torque P indicates the working pressure. Note 2): Grip point L is 30 mm. Note 3): Fueling is required for the rotary joint.
*1: β is 90°or 180°as a standard. Consult us if you need any other angle.
*2: Values in the parentheses indicate those for the single acting type. *3: For 4-position stop, 40°≦2α＋β≦180°

Product Mass［g］
Rotor

Gripper
G16C

P16A

P16C

V16A

V16C

O16C

G20C

B

747

723

722

760

760

735

846

P20C
736

D739

715

714

752

752

727

NoneNoneMass of Dust-proof Cover (Additional mass)［g］
P16

JN＝8JS＝8JF＝10P20

JN＝12JS＝12JF＝16■Advantages of Rotor Gripper
ItemRotor Gripper

Adaptor Connection TypeIt is simple and compact because gripper sensor wiring The gripper sensor wiring and air piping rotates together
Appearance and air piping are both ﬁxed.
with the gripper, so this type requires long wiring/airpiping, resulting in a larger size and complication.

Mounting Gripper rotation is irrelevant to the wiring and piping Wiring/piping twist and rotation range must be considered toWorkability when the gripper is ﬁxed. Therefore, it can be mounted secure the surrounding space. This type is inferior in durability
than the integrated rotor gripper because of twist and bending.
Maintenance easily in the minimum space.

Since the gripper's rotating part is only the end chuck, it The whole gripper rotates, so wire breaking and air leak due to contact
with other equipment must be considered. In addition, twist andbending of wiring and/or piping have an inﬂuence on the rotor motion.

Operation does not interfere with the outside.

The bearing is positioned at the upper and lower ends Since this type is supported by the bearing inside the rotor, it

Accuracy of the main body, so this type has good rotation is inferior in the rotation accuracy than the rotor gripper inaccuracy at the long span and is good in durability.

504

the short span.

Double Acting TypeSingle Acting TypeP16｝20｝

0.7MPa0.5MPa｝0.3MPa

10102030

400.7MPa

Gripping Force [N]300P2080

50600.5MPa
400.3MPa
20020

Gripping Point L ［mm］

40Rotor Gripper

Gripping Force [N]

40RH01 Series■Eﬀective Gripping Force (Closing Force)

60

Gripping Point L ［mm］

G16G2040800.5MPa

200.3MPa

100306090

Gripping Force [N]Gripping Force [N]0.7MPa301200.7MPa

600.5MPa
400.3MPa

20050

Gripping Point L ［mm］

Double Acting Type
Single Acting Type

V16400.3MPa
0.5MPa300.7MPa

201010203040

Gripping Point L ［mm］

Gripping Force [N]Gripping Force [N]150O1650500100

Gripping Point L ［mm］

400.3MPa

300.5MPa

200.7MPa

100204060

Gripping Point L ［mm］

505

Rotor Gripper

RH01 Series
P16P2050

Overhang H［mm］

Rotor Gripper

Overhang H［mm］

RH01 Series■Gripping Point Limit Range

4030201000.

20. MPa
30. MP
4M a0.
5 Pa
0. MPa6MPa0.
7MPa

10203040506050400.
20. MP
30. MP a4M a0.
P
50. MP a
60. MP a
7M aPa30
2010010 20 30 40 50 60 70 80

Gripping Point L ［mm］

Gripping Point L ［mm］

G2050
400.

2M

3M Pa
4M Pa
0.
5M Pa
0.
6M Pa
0.
7M PaPa
0.

30
201000.

Overhang H［mm］

Overhang H［mm］

G162040608010060200

Gripping Point L ［mm］

0.
20. MP
30. MP a
4M a0.
P50. MP a
60. MP a
7M aPa40306090120

Gripping Point L ［mm］

■Eﬀective Torque［N・m］

Output2.0

B Type1.5
1.0

D Type

0.5

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

Operating Pressure［MPa］■Stop Position Adjustment Method
See P.540〜541506■Stop Position Control Method
See P.542〜543

CAD data provided

RH01-G16C-B□

RH01 Series■Dimensions
Air Cushion
Adjusting Screw

Rotor GripperDepth 5

Details of Gripper

When opened：22.0 00
When closed ：12.4 −0.6
＋2.2

(Positioning Pin)

(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

507

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-G16C-D90

Depth 5Rotor Gripper

Details of Gripper

When opened：22.0 00
When closed ：12.4 −0.6＋2.2(Positioning Pin)

(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)
Depth 1.5
(Positioning Hole)

View on Arrow A
Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

508

CAD data provided

RH01-O16C-B□

RH01 Series■Dimensions
Air Cushion
Adjusting Screw

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

509

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-O16C-D90

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)
Depth 1.5
(Positioning Hole)

View on Arrow A
Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

510

CAD data provided

RH01-P16□-B□
When opened：25.8 00
When closed ：19.1 −1.6＋2.6

Air Cushion
Adjusting Screw

Rotor Gripper

Details of Gripper

RH01 Series■Dimensions(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

511

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-P16□-B□※J□

Air Cushion
Adjusting Screw

When opened：25.8 00
When closed ：19.1 −1.6＋2.6

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

512

CAD data provided

RH01-P16□-D90
When opened：25.8 00
When closed ：19.1 −1.6＋2.6

Rotor Gripper

Details of Gripper

RH01 Series■Dimensions(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)
Depth 1.5
(Positioning Hole)

View on Arrow A
Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

513

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-P16□-D90※J□
When opened：25.8 00
When closed ：19.1 −1.6＋2.6

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)
Depth 1.5
(Positioning Hole)

View on Arrow A
Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

514

CAD data provided

RH01-V16□-B□

RH01 Series■Dimensions
Air Cushion
Adjusting Screw

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

515

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-V16□-D90

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)
Depth 1.5
(Positioning Hole)

View on Arrow A
Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

516

CAD data providedRH01-G20C-B□

RH01 Series■Dimensions
Air Cushion
Adjusting Screw

Depth 7Rotor Gripper

Details of Gripper

When opened：30.2 00
When closed ：16.6 −1.0＋2.4(Positioning Pin)

(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

517

Rotor Gripper

RH01 Series
RH01 Series■Dimensions

CAD data provided

RH01-P20C-B□
When opened：35.1 00
When closed ：25.4 −2.6＋3.1

Air Cushion
Adjusting Screw

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

518

CAD data provided

RH01-P20C-B□※J□
When opened：35.1 00
When closed ：25.4 −2.6＋3.1

Air Cushion
Adjusting Screw

RH01 Series■Dimensions

Rotor Gripper

Details of Gripper(Closing port for gripper)
Both sides (one side plug)(Opening port for gripper)
Both sides (one side plug)
Bolt Width：10(For Angle Adjustment)(Air port for rotor)

Depth 1.5
(Positioning Hole)Through-HoleCounterbore φ9.5 Depth 5.5（Both Sides）

519