Detachable Parallel Linear Gripper (Dust-proof Cover Mount Type)

HP04DF Series

Finger(Long Attachment)Type

One-touch Finger Changer
Detachable bearing with one-touch operation.
New proposal for attachment replacement work.

Long Life

Sold in three patterns: ①Main body + Bearing, ②Main body only and ③Bearing only

CENTERING

Accuracy◆±0.07mm or less

Piping Port on 2 faces

Positioning Hole
◆Rear Face
◆Bottom Face

Dust-proof Cover◆NBR◆Silicon◆Fluorine

HP04DF Series

Sensor Switch Groove

Use ofLINEAR GUIDE◆Withstand load, withstand
moment (high rigidity)◆High accuracy(repeat accuracy: ±0.01 mm or less)◆Gripping at a long point andoverhang gripping are available.

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

Excellent

Attachment 1Attachment 2125

Detachable Parallel Linear Gripper (Dust-proof Cover Mount Type)

HP04DF Series■ Model Code No.
Main Body ＋ Bearing Assy

HP04DF

10 C ※ JN

Bore Size

Action TypeC : Double Acting

Quantity
Lead Wire Length
A：1000mm
B：3000mm●Gripper Adaptor TypeNo Code: No Gripper Adaptor●switch Type

HAE

2 Wire System Solid State Switch, Straight Type〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

HFEHFE-L：Large Diameter Type(φ16 only)

ZE135
ZE155

No Code: No Switch

ES13●Detailed speciﬁcations→P.133

ZE235

ES232 Wire System Solid State Switch, L-shaped

ES（P）
153 Wire System Solid State Switch, Straight Type

ZE255

ES（P）
25

3 Wire System Solid State Switch, L-shaped●Switch details→P.521〜528

Main Body AssyDB

HP04DF

10 C ※ HAE

ZE235 A 2Quantity

Series Name
Main Body Assy

A：1000mm
B：3000mm

C : Double Acting

Bore Size
10：φ10
16：φ1620：φ20

Lead Wire LengthAction Type

●Gripper Adaptor TypeNo Code: No Gripper Adaptor●switch Type

HAE

2 Wire System Solid State Switch, Straight Type

HP04DF Series

HFE
HFE-L：Large Diameter Type(φ16 only)

ZE135
ZE155

No Code: No Switch

ES13●Detailed speciﬁcations→P.133

DG

ES23

ZE255

ES（P）
25

3 Wire System Solid State Switch, L-shaped●Switch details→P.521〜528

For Dust-proof Cover only

HP04DF

Bearing Assy

ZE235

2 Wire System Solid State Switch, L-shaped

ES（P）
15

3 Wire System Solid State Switch, Straight Type

Bearing Assy

10 ※ JN

Bore Size
10：φ10
16：φ16
20：φ20
Series Name

126

ZE235 A 2

Dust-proofCover
ＪＮ：NBRＪＳ：Silicon
ＪＦ：Fluorine

Series Name

10：φ10
16：φ16
20：φ20

HAE

Dust-proofCover
ＪＮ：NBR
ＪＳ：Silicon
ＪＦ：Fluorine

JN

04F 10Dust-proofCover
ＪＮ：NBR
ＪＳ：Silicon
ＪＦ：Fluorine

Bore Size

Series Name
（Equivalent HP04F）

■Speciﬁcations
1016

Action Type20

Double Acting

Bearing Attachment/Removal Method

ManualBore Size［mm］

φ10φ16

φ20

Opening/Closing Stroke

［mm］

6.5

1014

Fluid

Air［MPa］
Working Pressure Range
In ( ), Dust-proof Cover Attached
Proof Pressure

［MPa］

1.05

Maximum Operating Cycle ［Cycle/min］

120［℃］

Lubrication

0〜60 (No Freezing)Not Required (Required for sliding parts of the machine)

Pipe Bore

M3×0.5

Applicable Switch［g］

Product Mass

M5×0.8
ZE, ES Type (Solid State Switch)95−JN：99.5

185−JN：191.5

370−JN：382.5−JS：99−JS：191−JS：380−JF：101.5−JF：194.5−JF：388.5

Centering Accuracy

［mm］

±0.07

Repeat Grip Accuracy

［mm］

±0.01

Repeat Attachment/Removal Accuracy ［mm］
(Centering Accuracy)

0.05

ActionTypeBore Size［mm］

Minimum Operating
Pressure［MPa］
In ( ), dust-proof
cover attached

Opening/ClosingStroke［mm］

HP04DF-10C

100.2（0.25）

6.51015.6

20×40×67.5

HP04DF-16C

160.12（0.17）1026

3925×55×77

HP04DF-20C

200.1（0.15）

14456032×66×97

Gripping Force※1［N］
Close Open

Outside Dimensions(T x W x L)
［mm］

HP04DF Series

DoubleActingModel〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

Operating Temperature

0.1〜0.7（0.15〜0.7）

0.12〜0.7（0.17〜0.7）

0.2〜0.7（0.25〜0.7）※1）The indicated grip force is measured at the intermediate position of the opening/closing stroke. It is an eﬀective value
when the grip point L is 30 mm and the pressure is 0.5 MPa.
See List of Eﬀective Grip Forces (Page 87) for details.
The unit of the allowable load FX is N. The unit of the allowable moments MA, MB and MC is Nm.
When this product is used with an extremely short stroke, it may work badly because of the lack of oil of the guide.

127

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Internal Structure Diagram
1526

1218101711〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

3

With a dust-proof cover

86952041921321711625

142422CO

23

Parts List

HP04DF Series

NO128Name

MaterialNONameMaterial

1Main Body

Aluminum Alloy

15 Hexagon Socket Head Bolt Chrome Molybdenum Steel2

Head Cover

Aluminum Alloy

16 Hole Locating Snap Ring

Carbon Tool Steel3

Piston Rod

Stainless Steel

17 Knuckle

Stainless Steel

4

PistonAluminum Alloy

18 Bearing

Stainless Steel

5

MagnetResin

19 Packing

NBR

6

Pressure Cover

Aluminum Alloy

20 Packing

NBR

7

SpringPiano Wire

21 Slotted Head Machine Screw

Stainless Steel

8Action Lever

Carbon Steel

22 Stopper

Stainless Steel

9Fulcrum Pin

Carbon Tool Steel

23 Cross-recessed Round Head Screw

Stainless Steel

10 Press Fit Pin

Carbon Tool Steel

24 PinStainless Steel

11 Roller

Carbon Steel

25 Bracket

Aluminum Alloy

12 Roller

Carbon Steel

13 O Ring

NBR

14 Gasket

Soft Steel ＋ NBR

NBR
26 Dust-proof CoverSiliconFluorine■Allowable Load and Allowable Moment
FX
Load andMoment

MAModelMB

MCMAMBMCFX［N］ ［N・m］ ［N・m］ ［N・m］

HP04DF-10

50

0.4

0.4

HP04DF-16

120

111

HP04D-F20200

1.5

1.5

1.50.4Note) FX, MA, MB is equivalent to HP04. MC 50% of the HP04.
(To exceed the holding force due to the spring)

Closing Force (Double Acting Type)400.7MPa
0.5MPa100.3MPa

503060800.7MPa

300.5MPa

200.3MPa

10090

HP04DF-16C

Gripping Point L ［mm］

306090

Gripping Force [N]

HP04DF-10C
Gripping Force [N]Gripping Force [N]150.7MPa

600.5MPa

400.3MPa

200120

HP04DF-20C

Gripping Point L ［mm］

50100150

Gripping Point L ［mm］

600.7MPa

200.5MPa
0.3MPa100306090

Gripping Point L ［mm］

HP04DF-16C

450.5MPa

300.3MPa

150900.7MPa306090120

Gripping Point L ［mm］

Gripping Force [N]

HP04DF-10C
Gripping Force [N]Gripping Force [N]30

HP04DF Series

Opening Force (Double Acting Type)〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper■Eﬀective Gripping Force

HP04DF-20C
0.7MPa750.5MPa

500.3MPa

25050100150

Gripping Point L ［mm］

129

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Gripping Point Limit Range
HP04DF-10

HP04DF-16
5003020P1020aaaaa40608090403020020406060400.

2M4MPaPa5M Pa
6M Pa
7M PaPa

0.

2000.

0.

30

0.

60

90120150●Mounting of the attachment

L (distance gripping point) and H (overhang distance)of the attachment to be mounted to the lever shall bewithin the range speciﬁed in the above drawing(Gripping point limit range). If they exceed the limit
range, excess moment will be applied to the guide,causing troubles that have a bad inﬂuence on the life
and accuracy (e.g. ﬁnger backlash). Even if they arewithin the limit range, the attachment shall be as small
and light as possible.

●Guide for selecting a model for the workpiece weight

It shall be 5 to 10% of the eﬀective gripping force or
any value less than that although it diﬀers dependingon the coeﬃcient of friction between the attachment
and the workpiece and the shape. It shall be greaterthan that when great acceleration or impact is applied
during workpiece transportation.

Workpiece
Gripping Point

HHP04DF Series

Gripping Point L［mm］

130.2

M

M

Pa80

100

Gripping Point L［mm］

703M.4.3

10HP04DF-200.

000P.5 MP aM a0.6
Pa0.7 MPM aPa0

Gripping Point L［mm］

Overhang H［mm］〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper0aPPPPPMMMM

MM.2.3.4.5.6.700000

Overhang H［mm］

Overhang H［mm］

40L120■Bearing Attachment/Removal Method
Removal Method (Example)
STEP.4

RemovalThe opening (closing) port
exhausts air that is supplied
to the inside of the cylinder.

Move the lever to the speciﬁed
position by external force or the like.
This makes the action lever vertical.

Push the stopper by externalforce or the like. This makes
the hardware free. Note 2)

Remove the bearing.

CCSTEP.3

DecouplingCSTEP.2

Attachment/Removal Position

CSTEP.1

Air Exhaust［mm］ModelS

HP04DF-10 HP04DF-16 HP04DF-20
16.6

22.6

30

Note 1) The dimension of the attachment/removal position S diﬀers depending on the product size.
See the left table.
Note 2) If you make the pin free when the lever is attached in the vertically downward direction,
the bearing may falls due to the own weight of the lever. So be fully careful to make it free.

Attachment Method (Example)

Keep the bearing
separated.

Push the stopper byexternal force or the like.

Attach the bearing while keeping
the stopper inserted and thelevers are in the SA state.

The bearing is retainedby releasing the stopper.

Model

HP04DF-10

HP04DF-16

HP04DF-20

SA

7

11.6

16
Main Body
CPart Names

S（Note 1

HP04DF SeriesSA（Note 3
Note 3)
When the action lever is not in the speciﬁed position, adjust the action
lever position with reference to the dimension SA in the table below. ［mm］

CSTEP.4

Retention

CSTEP.3

Attachment

CSTEP.2

Stand-by for Attachment

CSTEP.1

Attachment/Removal Position〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

S（Note 1Stopper

Action Lever
Stopper
PinBearing

Lever131

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Main Body Mounting Method
Mounting Example
1 When the through-hole of the main body is used

2 When the screw on the back face of the main body is used

(Switch not attachable in this case)
Gripper Body

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

HP04DF Series
132

Mounting PlateModel

Bolt to be Used

Maximum Tightening Torque［N・m］

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ10

M3×0.50.59

φ10

M4×0.71.37

φ16

M3×0.50.59

φ16

M4×0.71.37

φ20

M4×0.71.37

φ20

M5×0.82.84

3 When the screw on the side of the main body is used

4 When the screw on the bottom face of the main body is used
(Only φ8 requires a space such as a relief because
the switch protrudes.)

CO

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ10

M3×0.5

0.59

φ10M3×0.50.59

φ16

M4×0.71.37

φ16

M4×0.71.37

φ20

M5×0.82.84

φ20

M5×0.82.84

■Outline Dimensional Drawing of Gripper Adaptor
HAE Type

DK

J

F−0

φE−0.03−0.01

φG −0.04

2−φL

I

CA

B

H

B

C

D

E

F

G

H

I

JK

L

Ancillary Bolt
(x2)

HAE-101515

31.310111123

1710

16

3.4

M3×0.5×8L

11

HAE-16

1515

3

1.3

10161734

26

1422

4.5

M4×0.7×10L

20

HAE-201515

31.310182145

35

1626

5.5

M5×0.8×10L28CodeHFE形

JA

I
H

Code

Ancillary Bolt (x3)
Gripper Mounting (x2) Adapter Fixing (x1)

Product Mass［g］(Including Bolts)

AE

G

HIJK

L

HFE-10

15

61123

1710

16

3.4

M3×0.5×16L

M3×0.5×12L

14

HFE-16

18

81734

26

14

22

4.5

M4×0.7×20L

M4×0.7×16L

35

HFE-16L

18

101734

26

14

224.5

M4×0.7×20L

M4×0.7×16L

33

HFE-20191321

45

35

16

26

5.5

M5×0.8×20L

M5×0.8×20L

55

Type

HP04DF Series

1.3K2−φL

φG−0.01−0.04φE〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

Product Mass［g］(Including Bolts)

AType133

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Attachment Design Method
Attachment Mounting Method
When you mount the attachment,
hold the attachment with a spanner orthe like to remove load to the lever.

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

HP04DF Series
134

ModelBolt to be Used

Maximum Tightening Torque［N・m］

φ10

M3×0.51.14

φ16

M3×0.51.14

φ20

M4×0.7

2.7

Positioning Hole
Positioning Hole for Mounting Examples 1 and 2 (P.132)

Positioning Hole for Mounting Examples 4 (P.132)
Positioning Hole D
Positioning Hole dPositioning
HoleUse this positioning hole for Mounting
Examples 1 and 2.

Use this positioning hole forMounting Example 4.

Model

Positioning Hole

Model

Positioning Hole D

Positioning Hole d

φ10

φ2.5＋0.02
depth 2.50

φ10

φ11＋0.05
depth 1.50

φ2 ＋0.04
depth 20

φ16

φ17depth 1.5

φ2.5＋0.04
depth 30

φ20

φ21＋0.05
depth 1.50

φ3 ＋0.04
depth 30

φ16

φ3

φ20

φ4＋0.02
depth 3.50＋0.020

depth 3＋0.050CAD data provided■Dimensions

HP04DF-10C
Plug＊1

Depth 1.5

(Positioning Hole)

Depth2（Closing Port）
When opened: 29.9 ＋2.400
When closed : 24.4 −1.4

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper（Opening Port）
Depth ２(Positioning Hole)

Depth 6

Through-Hole

HP04DF Series

Depth 5Depth 2.5

Depth 6Lower Hole φ3.4 Through-Hole＊2

Depth 2.5
(Positioning Hole)With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

135

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Dimensions

CAD data provided

HP04DF-16C
Plug＊1

Depth 1.5

(Positioning Hole)

De

pth3

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

When opened: 40.2 ＋3.700
When closed : 31.8 −1.8

（Closing Port）（Opening Port）

Depth 3
(Positioning Hole)

Depth 7

Through-Hole

HP04DF Series

Depth 6

Depth 3Depth 6Lower Hole φ3.4 Through-Hole＊2

Depth 3(Positioning Hole)With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

136

CAD data provided■Dimensions

HP04DF-20C
Plug＊1

Depth 1.5

(Positioning Hole)

Depth3（Closing Port）
When opened: 51.2 ＋4.400
When closed : 39.2 −2.2

〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper（Opening Port）
Depth 3Depth 9Through-Hole

HP04DF Series

Depth 8Depth 3.5

Depth 8Lower Hole φ4.2 Through-Hole＊2

Depth 3.5
(Positioning Hole)With a dust-proof cover＊1) Two faces have an air port. Select the one you use according to the mounting condition.
＊2) Note that when the main body is mounted using the through-hole, you cannot mount the opening side sensor.

137

Detachable Parallel Linear Gripper〈Finger(Long Attachment)Type〉

HP04DF Series■Switch Groove Dimensions
φ5φ50
B

101620172430B

1012.5

16B

BBSizeACodeAA■Switch Protrusion Distance ■Switch Mounting〈 Finger(Long Attachment)Type〉
Detachable Parallel Linear Gripper

The maximum switch protrusionfrom the switch body end face(when the levers are full closed)
is shown in the table below. Use
it as a guide for mounting.

■Switch Response Diﬀerence

Insert the switch into the switch
mounting groove. After setting
the mounting position, tighten
the switch ﬁxing screw with aprecision screwdriver.
The tightening torque shall be
0.1 N・m or less.

The distance from the position wherethe levers move and the switch turns
on to the position where the levers
move in the reverse direction and theswitch turns oﬀ is called "response
diﬀerence".

Switch Fixing Screw（M2.5×0.45）
SwitchLCylinder
Bore（mm）
Maximum
Protrusion
（mm）

φ10

φ16

φ20000SwitchMountingGroove
ResponseDiﬀerence

Cylinder Maximum
Response
Bore Diﬀerence（mm） （mm）
φ100.3φ160.4

φ200.4

Switch Operation Position (ON)
Switch Return Position (OFF)■Switch Mounting Position Adjustment Method
For external gripping

HP04DF Series①Check the workpieceexternal gripping andfull close.

②Insert the switch into theswitch mounting grooveof the main body in thearrow direction.

③The LED lamp lights
up by turning on theswitch in the arrow
direction.

④Fix the switch by a switch ﬁxing
screw at the position where theswitch is moved 0.6 mm in thearrow direction from the position
where the lamp lights up in [3].

②Insert the switch into theswitch mounting grooveof the main body in thearrow direction.

③The LED lamp lights
up by moving theswitch in the arrow
direction. It goes oﬀ
by moving it further.

④Fix the switch at the position thatis 0.6 mm moved from the position
where the LED lamp lights up when
it is returned in the arrow direction(reverse direction) in [3].

For internal gripping①Check the workpiece
internal gripping andfull opening.

①Indicates the position where you need to check if the switch is ON. Mount the switch by adjusting it in the order from ① to ④.

138