Parallel Mechanical Gripper

HP09FRFinger(Long Attachment)TypeSeries （Old Type HP12）

Selectable Gripping Force
L: Low
M: Medium
H: Highrnal◆NBR◆Silicon◆Fluorine
HP09FR Series

ExteThroughMounting Hole

Dust-proof CoverPositioning HoleForce

Parallel Mechanical Gripper
Finger(Long Attachment)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.
385

Parallel Mechanical Gripper (Finger(Long Attachment)Type)

HP09FRSeries(Old Type HP12)■ Model Code No.

HP09FR8L※ JNSeries Name
Dust-proof Cover TypeNo Code: No Cover
JN: With NBR Rubber Cover
JS: With Silicon Rubber Cover
JF: With Fluorine Rubber CoverNominal diameter8

HP09FR Series

10
16
20

Gripping Force
L: Low
M: Medium
H: High※Please feel free to consult us about
the grip forces (spring forces) otherthan the ones speciﬁed on the left.

●Dust-proof Cover Set
M odel Code No.

JS － 09F

16Parallel Mechanical Gripper

MaterialSize

JN: With NBR Rubber Cover
JS: With Silicon Rubber Cover
JF: With Fluorine Rubber Cover

08： For 8
10： For 10
16： For 16
20： For 20

Series Name

■ Internal Structure DiagramFinger(Long Attachment)Type?

?

4
Parts List
287
6

3
111

91210386NameNO

513

Material

1

Main Body

Aluminum Alloy

2

Piston Rod

Stainless Steel3

Pressure Cover

Aluminum Alloy

4

Pressure CoverCarbon Tool Steel

5

SpringSpring Steel

6

Action Lever

Carbon Tool Steel

7

Fulcrum Pin

Carbon Tool Steel

8

Metal

Oil-impregnated Sintered Bearing

9Knuckle

Stainless Steel

10Roller

Carbon Steel

11Roller

Carbon Steel

12

Hexagon Socket Head Bolt

Carbon Tool Steel

13Bearing

Stainless Steel■Speciﬁcations
Elastic Body to be Used

Compression spring

Action Type

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

Operating Temperature

0～120

Lubrication

Required (Sliding parts of the machine)

Maximum Operating Cycle［Cycl e/ min ］

180

Centering Accuracy

［mm］

±0.07

Repeat Accuracy

［mm］

±0.01

Applicable Switch

Not mountable

Model

Nominal Opening/
diameter Closing
Stroke［mm］［mm］

72.510HP09FR-8-H

4.317

HP09FR-10-L

3.4

14

4.520HP09FR-10-H

7.2

31

HP09FR-16-L

4.4

206.4

28

11.0

43

6.5

26

8.3

37

12.056

HP09FR-8-M

HP09FR-10-M

HP09FR-16-M

810164（3.2～6.1）

6.5（5.2～8.1）

10（10.3～13.6）

Without
dust-proof
cover

With dust-proof
cover

30

13×20×55.1

1：2

31

JN：32.5, JS：32.5,
JF：33

50

20×36×71.5

1：2

78

JN：82.5, JS：82,
JF：84.5130

25×50×79.7

1：2.2

156

JN：162.5, JS：162,JF：165?

Note 1): Extrusion force is an external force required to open the levers completely by overwhelming the spring force in the c losing direction.
Note 2): The lever ratio is the "Extruded Distance (how much th e 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. Value s in the parentheses are measured values.

Finger(Long Attachment)Type

HP09FR-16-H

Product Mass［g］

Note）2

LeverRatio

Parallel Mechanical Gripper

1.6

HP09FR-8-L

SingleActing
NormallyCloseNote）1
OutsideGripping
Allowable
Force Extrusion Extrusion Dimensions
Force(T x W x L)
(At Closing)
Force
［mm］
［N］ ［N］［N］

HP09FR SeriesNote）3Action
Type■Allowable Load and Allowable Moment?

HP09FR-20-L
HP09FR-20-M

2014（13.3～16.1）

HP09FR-20-H

210

32×62×105.3

1：2.2

312

JN：324.5, JS：322,
JF：330.5

FX
M A

Load andMoment

FX
［N］

M A
［N・m］

M B
［N・m］

M C
［N・m］

HP09F- 8

120.040.04

0.08

HP09F-10

50

0.4

0.4

0.8

HP09F-16

120112

HP09F-20

200

1.5

1.5

3Model
M B

M C387

Parallel Mechanical Gripper〈 Finger(Long Attachment)TypeHP09FRSeries〉(Old Type HP12)■E?ective Gripping Force

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

HP09FR-8-L

HP09FR-8-M

HP09FR-8-H

32110203040

3

2

10G rip p in g P o in t L ［m m ］

HP09FR-10-L

2040

60

0

2Finger(Long Attachment)Type

2

2040

70

60

2040603080

100406070HP09FR-16-H

6

3020G rip p in g P o in t L ［m m ］

159G rip p in g P o in t L ［m m ］

40

6

HP09FR-16-M

430

9G rip p in g P o in t L ［m m ］

12620

HP09FR-10-H

4HP09FR-16-L

10G rip p in g P o in t L ［m m ］

1260708

Gripping Force [N]40

Gripping Force [N]Gripping Force [N]2Gripping Force [N]Parallel Mechanical Gripper

Gripping Force [N]40308G rip p in g P o in t L ［m m ］?

202

HP09FR-10-M

60104G rip p in g P o in t L ［m m ］

Gripping Force [N]HP09FR Series

0

Gripping Force [N]Gripping Force [N]Gripping Force [N]6204060801001050G rip p in g P o in t L ［m m ］

20406080100

G rip p in g P o in t L ［m m ］?

HP09FR-20-L

HP09FR-20-M

64306090120

G rip p in g P o in t L ［m m ］

388

20

Gripping Force [N]80

HP09FR-20-H

12

Gripping Force [N]Gripping Force [N]109630306090

120

G rip p in g P o in t L ［m m ］

151050306090120

G rip p in g P o in t L ［m m ］

■Gripping Point Limit Range
HP09FR-8

HP09FR -10M2010H204030

L30M20H100G rip p in g P o in t L［m m ］

20406080

G rip p in g P o in t L［m m ］

L5040

M3020H

10020406080

HP09FR Series

10O v e rh a n g H ［m m ］

L
300

HP09FR -1640

O v e rh a n g H ［m m ］

O v e rh a n g H ［m m ］

40100

G rip p in g P o in t L［m m ］

Workpiece
Gripping Point

L60LM

H

40

Parallel Mechanical Gripper

O v e rh a n g H ［m m ］

HP09FR -20H

200306090120

G rip p in g P o in t L［m m ］

Finger(Long Attachment)Type?

■Main Body Mounting Example
1

When the through-hole of the main body is used2

When the mounting screw on the back side of the through-hole isused(For φ16 and φ20, the bolt head does not protrude
from the main body.)?

389

Parallel Mechanical Gripper〈 Finger(Long Attachment)Type

HP09FR

Series〉(Old Type HP12)
CAD data provided■Dimensions

HP09FR-8-□

Parallel Mechanical Gripper

When opened：17.
5 00
When closed ：15.8 －1.4

＋4.4＊2

HP09FR Series
Through-HoleFinger(Long Attachment)Type?

?

With a dust-proof cover

Through-HoleDepth 1(Positioning Hole)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.

390

CAD data provided

HP09FR-10-□

When opened：28.
0 00
When closed ：24.4 －1.4

＋4.5＊2■Dimensions

HP09FR Series
Parallel Mechanical Gripper

Through-HoleFinger(Long Attachment)Type?

?

With a dust-proof cover

Depth 6Lower Hole φ3.4 Through-Hole
Depth 2.5
(Positioning Hole)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.

391

Parallel Mechanical Gripper〈 Finger(Long Attachment)Type

HP09FR

Series〉(Old Type HP12)
CAD data provided

HP09FR-16-□

When opened：40.
2 00When closed ：31.8 －1.8

＋4.7＊2■Dimensions

HP09FR Series
Parallel Mechanical Gripper

Through-Hole

Finger(Long Attachment)Type?

?

With a dust-proof cover
Depth 6
Depth 3(Positioning Hole)

Lower Hole φ3.4 Through-Hole＊3Note) ・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.

392

CAD data provided

HP09FR-20-□

When opened：50.
2 00
When closed ：39.2 －2.2

＋5.1＊2■Dimensions

HP09FR Series
Parallel Mechanical Gripper

Through-Hole

Finger(Long Attachment)Type?

?

With a dust-proof cover

Depth 8.5
Depth 3.5
(Positioning Hole)

Lower Hole φ4.2 Through-HoleCounterbore: φ8 Depth 4.5（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.

393