Parallel Mechanical Gripper

HP09LR

Long Stroke Type

SeriesLong
StrokeSelectable Gripping Force
L: Low
M: Medium
H: HighrnalThroughMounting Hole

Positioning HoleHP09LR Series

ExteForce

Parallel 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)

HP09LR

Series■ Model Code No.

HP09LR

10LSeries Name
Nominal diameter
8

HP09LR Series
Parallel Mechanical Gripper (Long Stroke Type)376

101620

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.

■ Internal Structure Diagram
Parts List

4Name

NO

2
87
65
3

111

912
1013

Material

1

Main Body

Aluminum Alloy

2

Piston Rod

Stainless Steel3

Pressure Cover

Aluminum Alloy

4

Pressure CoverCarbon Tool Steel

5Spring

Spring Steel

6

Action Lever

Carbon Tool Steel

7

Fulcrum Pin

Carbon Tool Steel

8MetalOil-impregnated Sintered Bearing

9Knuckle

Stainless Steel

10Roller

Carbon Steel

11Roller

Carbon Steel

12

Hexagon Socket Head Bolt

Carbon Tool Steel13

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［Cycl e/ min ］

180

Centering Accuracy

［mm］

±0.07

Repeat Accuracy

［mm］

±0.01

Applicable SwitchModelNote）1 Allowable
Nominal Opening/ GrippingExtrusion Extrusion ProductForceClosing
diameterMass(At Closing) Force
Force
Stroke［mm］ ［mm］ Note）3 ［N］
［g］
［N］
［N］

82.5

124.3

173.4

174.5

21

HP09LR-10-H

7.236

HP09LR-16-L

4.4

19

HP09LR-8-M

88（7.4～10.6）

HP09LR-8-H
HP09LR-10-L
HP09LR-10-M
SingleActing
Normally
Close

10

HP09LR-16-M

1612（10.9～15.1）

16（15.3～18.2）

HP09LR-16-H
HP09LR-20-L
HP09LR-20-M

2022（21.1～24.5）

HP09LR-20-H

6.432

11.0

49

6.532

8.3

40

12.060Note）2Outside Dimensions(T x W x L)［mm］

LeverRatio

3034

13×26×42.8

1：2

50

100

20×45×62.1

1：2

130

186

25×56×69.8

1：2.2

210

366

32×73×86.6

1：1.9

Parallel Mechanical Gripper (Long Stroke Type)

1.6

HP09LR-8-L

HP09LR Series

ActionType

Not mountable

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.

■Allowable Load and Allowable Moment
FX
M A

Load andMoment

FX
［N］

M A
［N・m］

M B
［N・m］

M C
［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

3

Model

M B
M C377

Parallel Mechanical Gripper (Long Stroke Type)

HP09LRSeries■Effective Gripping Force

When the levers are full open
When the levers are full closedHP09LR-8-L

HP09LR-8-M

HP09LR-8-H

32120103040

3210

G rip p in g P o in t L ［m m ］

HP09LR-10-L

406070

Gripping Force [N]20406070

Gripping Force [N]220406080

100

3Gripping Force [N]490120

G rip p in g P o in t L ［m m ］

20406080

10070

020406080

100

G rip p in g P o in t L ［m m ］

HP09LR-20-H
209630605

HP09LR-20-M

640

10G rip p in g P o in t L ［m m ］

12820G rip p in g P o in t L ［m m ］

HP09LR-16-H

6

HP09LR-20-L60315901030

6

HP09LR-16-M

4409012630

HP09LR-10-H

G rip p in g P o in t L ［m m ］

HP09LR-16-L

20122010

G rip p in g P o in t L ［m m ］

Gripping Force [N]Gripping Force [N]Gripping Force [N]208

Gripping Force [N]04G rip p in g P o in t L ［m m ］

378

406G rip p in g P o in t L ［m m ］

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

2030840202

HP09LR-10-M

60104G rip p in g P o in t L ［m m ］

Gripping Force [N]HP09LR Series

0

Gripping Force [N]Gripping Force [N]Gripping Force [N]6306090120

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
HP09LR-8

HP09LR-10

M
2010H

204030

L30
M
20H
100G rip p in g P o in t L［m m ］

20406080

40

M3020H

100G rip p in g P o in t L［m m ］

L50

20406080

HP09LR Series

10O v e rh a n g H ［m m ］

L300

HP09LR-1640

O v e rh a n g H ［m m ］

O v e rh a n g H ［m m ］

40

100

G rip p in g P o in t L［m m ］

Workpiece
Gripping Point

L60

LM

H

40

Parallel Mechanical Gripper (Long Stroke Type)O v e rh a n g H ［m m ］

HP09LR-20

H

20

0

3060

90120

G rip p in g P o in t L［m m ］■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 used3

When the mounting screw on the bottom
face of the main body side is used
(Excluding φ8)379

Parallel Mechanical Gripper (Long Stroke Type)

HP09LRSeries
CAD data provided

HP09LR-8-□(Positioning Pin)

HP09LR Series

0 0When opened：12.
0
5.4 －0.6
When closed ：＋3.8＊2■Dimensions

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

HP09LR-10-□(Positioning Pin)

HP09LR 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)

HP09LR

SeriesCAD data provided

HP09LR-16-□(Positioning Pin)

＋3.6＊ 20

When opened：27.0
When closed ：12.

04 －0.6■Dimensions

HP09L Series
Parallel Mechanical Gripper (Long Stroke Type)

Depth 5Depth 5Depth 3
View on Arrow A
Depth 5Depth 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(Positioning Pin)

＋4.6＊20

HP09LR-20-□

HP09LR Series

When opened：36.5
When closed ：16.

06 －1.0■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