Detachable Parallel Linear Gripper

HP04DL SeriesLong Stroke 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

Piping Port on 2 faces

Ａccuracy◆±0.07mm or lessPositioning Hole
◆Rear Face
◆Bottom FaceUse 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.

Attachment 1

HP04DL SeriesSensor Switch Groove

Detachable Parallel Linear Gripper (Long Stroke Type)

Excellent

Attachment 2111

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■ Model Code No.
Main Body ＋ Bearing Assy

HP04DL

10 C ※ HAE

ZE235 A 2Series Name

Quantity

Bore Size

1:1 Switch
2:2 Switches

10：10mm
16：16mm
20：20mm

Lead Wire Length

Action Type

A：1m
B：3m

C : Double Acting

Detachable Parallel Linear Gripper (Long Stroke Type)●Gripper Adaptor TypeNo Code: No Gripper Adaptor●switch Type

HAE

2 Wire System Solid State Switch, Straight Type

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

ZE135
ZE155

●Detailed speciﬁcations→P.119

ZE235

ES23

2 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

HP04DL

Main Body Assy

10 C ※ HAE

ZE235 A 2Quantity

Series Name

1:1 Switch
2:2 Switches

Bore Size
10：10mm
16：16mm
20：20mm

Lead Wire Length

Action Type

A：1m
B：3m

C : Double Acting

HP04DL Series●Gripper Adaptor TypeNo Code: No Gripper Adaptor●Switch typeHAE

2 Wire System Solid State Switch, Straight Type

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

ZE135
ZE155

No code: No switch

ES13HP04DL

Bearing Assy

Series Name

10
Bore Size
10：10mm
16：16mm
20：20mm

ES23

ZE255

ES（P）
25

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

Bearing Assy

DG

ZE235

2 Wire System Solid State Switch, L-shaped

ES（P）
15

3 Wire System Solid State Switch, Straight Type

●Detailed speciﬁcations→P.119

112

No Code: No Switch

ES13

■Speciﬁcations
1016Action Type
Bearing Attachment/Removal Method
Bore Size

Manual［mm］Air

Working Pressure Range［MPa］

Proof Pressure［MPa］

Operating Temperature

1.05
120［℃］

Lubrication

0.1〜0.7

0.12〜0.7

0.2〜0.7

Maximum Operating Cycle ［Cycle/min］

0〜60 (No Freezing)
Not Required (Required for sliding parts of the machine)
M5×0.8M3×0.5

Applicable Switch

ZE, ES Type (Solid State Switch)Centering Accuracy［mm］±0.07

Repeat Accuracy［mm］±0.01

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

0.05

Model

Minimum Opening/ Gripping Force※1 Outside Dimensions
Bore Size Operating Closing［N］(T x W x L)
Pressure
Stroke［mm］
［mm］
［MPa］
［mm］ Close OpenProduct
Mass［g］

HP04DL-10C100.2

121015.6

20×50×49

90

HP04DL-16C

160.1216263925×62×56

170

HP04DL-20C

200.1

22456032×78×73

370

HP04DL Series※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 73) 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.

Detachable Parallel Linear Gripper (Long Stroke Type)

Pipe Bore

DoubleActing

φ20

φ16φ10

FluidAction
Type

20

Double Acting

113

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■Internal Structure Diagram
101513

Detachable Parallel Linear Gripper (Long Stroke Type)

71416

912

17

83

11620

521

419

2
18

1

Parts List
NONameMaterial

NameNO

Material

HP04DL Series

1Main Body

Aluminum Alloy

12 Stopper

Stainless Steel2Head Cover

Aluminum Alloy

13 PinStainless Steel

3Piston Rod

Stainless Steel

14 Press Fit Pin

Carbon Tool Steel

4PistonAluminum Alloy

15 Press Fit Pin

Carbon Tool Steel

5MagnetResin

16 Press Fit Pin

Carbon Tool Steel

6

Pressure Cover

Aluminum Alloy

17 Slotted Head Machine Screw

Stainless Steel7

Bearing

Bearing Steel

18 Hole Locating Snap Ring

Carbon Tool Steel

8

SpringPiano Wire

19 O Ring

NBR

9Action Lever

Carbon Steel

20 Rod Packing

NBR

10 Knuckle

Stainless Steel

21 Piston Packing

NBR

11 Fulcrum Pin

Carbon Tool Steel■Allowable Load and Allowable MomentFxMA

Load andMoment

ModelMBMC114MAMBMCFX［N］ ［N・m］ ［N・m］ ［N・m］

HP04DL-10

500.4

0.40.8HP04DL-16120

112

HP04DL-202001.51.53

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

5030

60

800.7MPa

300.5MPa

200.3MPa

10090

HP04DL-16C60900.7MPa

600.5MPa

400.3MPa

200120

HP04DL-20C

50100150

Gripping Point L ［mm］

Gripping Point L ［mm］

Opening Force (Double Acting Type)600.7MPa

200.5MPa
0.3MPa100306090

Gripping Point L ［mm］

HP04DL-16C0.7MPa

450.5MPa

300.3MPa

150306090120

Gripping Point L ［mm］

90

Gripping Force [N]

HP04DL-10C
Gripping Force [N]Gripping Force [N]30

HP04DL-20C0.7MPa

750.5MPa

500.3MPa

25050100150

Gripping Point L ［mm］

Detachable Parallel Linear Gripper (Long Stroke Type)

Gripping Point L ［mm］

30

Gripping Force [N]

HP04DL-10C
Gripping Force [N]Gripping Force [N]15

HP04DL Series
115

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■Gripping Point Limit Range
HP04DL-10

HP04DL-165003020P

1020aaaaa

4060

8090

4030200204060

60

400.

2M

4MPaPa

5M Pa
6M Pa
7M PaPa

0.

2000.

0.

300.

60

90120

150

●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

HHP04DL Series

Gripping Point L［mm］

116.2

MMPa80100Gripping Point L［mm］

703M.4.3

10HP04DL-200.

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

Gripping Point L［mm］

Overhang H［mm］

Detachable Parallel Linear Gripper (Long Stroke Type)

0aP

P

P

P

P

M

M

M

M

M

M.2.3.4.5.6.700000

Overhang H［mm］

Overhang H［mm］

40L120■Bearing Attachment/Removal Method
Removal Method (Example)
STEP.1

STEP.2

STEP.3

STEP.4Air Exhaust

Attachment/Removal Position

Decoupling

RemovalThe opening (closing) port
exhausts air that is suppliedto 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 external
force or the like. This makes
the hardware free. Note 2)

Remove the bearing.

［mm］

Model

HP04DL-10

HP04DL-16

HP04DL-20

S5812

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)
STEP.1

STEP.2

STEP.3

STEP.4Attachment/Removal Position

Stand-by for Attachment

Attachment

Retention

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

HP04DL-10

HP04DL-16

HP04DL-20

SA91420

Part Names

Main Body
Stopper

S（Note 1

HP04DL 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］

Detachable Parallel Linear Gripper (Long Stroke Type)S（Note 1Note 1)
The dimension of the attachment/removal position S diﬀers dependingon the product size. See the following table.

Action Lever
Stopper
PinBearing

Lever

117

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL 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

Mounting Plate

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series
118

ModelBolt 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.)Model

Bolt to be Used

Maximum Tightening Torque［N・m］

Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ10M3×0.50.59

φ10

M3×0.50.59

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

DKJ

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-10

1515

3

1.3

10111123

1710163.4

M3×0.5×8L

11

HAE-16

1515

3

1.3

1016173426

14224.5

M4×0.7×10L

20

HAE-20151531.31018214535

16265.5M5×0.8×10L

28

Code

HFE形

JA

I
H

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

Product Mass［g］(Including Bolts)

AE

GH

IJK

L

HFE-10

15

6

1123

1710

16

3.4

M3×0.5×16L

M3×0.5×12L

14

HFE-16

1881734

26

14

22

4.5

M4×0.7×20L

M4×0.7×16L

35

HFE-16L

18

10

1734

26

14

22

4.5

M4×0.7×20L

M4×0.7×16L

33

HFE-20

1913

21

45

35

1626

5.5

M5×0.8×20L

M5×0.8×20L

55

Type

HP04DL Series

1.3K

2−φL

φG−0.01−0.04φE

Detachable Parallel Linear Gripper (Long Stroke Type)

Product Mass［g］(Including Bolts)

AType119

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■Attachment Design Method
Example of Attachment Design
Positioning in theOpening/Closing Direction
For Fixing Bolt
Through-Hole
Vertical Positioning

Fixing Bolt
Lever

Elongate Hole

Pressing
Face
Positioning
Pin

Detachable Parallel Linear Gripper (Long Stroke Type)Attachment
Vertical Direction

Opening/Closing Direction
Reference Line

Attachment Mounting Method
When you mount the attachment, hold theattachment with a spanner or the like toremove load to the lever.
Model

Bolt to be Used

Maximum Tightening Torque［N・m］

φ10

M3×0.51.14

φ16

M4×0.72.7

φ20

M5×0.85.4

HP04DL Series

Positioning Hole
Positioning Hole for Mounting Examples 1 and 2 (P.118)

Positioning Hole for Mounting Examples 4 (P.118)
Positioning Hole D
Positioning Hole dPositioning
Hole120

Model

Positioning Hole

Model

Positioning Hole D

φ10

φ2.5＋0.02
depth 2.50

φ10

φ11＋0.05
depth 1.50

φ2 ＋0.04
depth 20

φ16

φ3＋0.02
depth 30

φ16

φ17＋0.05
depth 1.50

φ2.5＋0.04
depth 30

φ20

φ4＋0.02
depth 3.50

φ20

φ21＋0.05
depth 1.50

φ3 ＋0.04
depth 30

Positioning Hole dCAD data provided■Dimensions

HP04DL-10C

Depth 1.5
(Positioning Hole)

Depth2(Positioning Pin)

（Closing Port）
Detachable Parallel Linear Gripper (Long Stroke Type)

When opened: 20.8 ＋1.500
When closed : 9.4 −0.6

Plug＊1（Opening Port）
Depth 2
(Positioning Hole)

Depth 6

Depth 5

HP04DL Series

Depth 4
Depth 4
Depth 2.5

View on Arrow A

Depth 6
Depth 2.5
(Positioning Hole)

Lower Hole φ3.4 Through-Hole＊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.

121

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■Dimensions

CAD data provided

HP04DL-16C

Depth 1.5
(Positioning Hole)

Depth3（Closing Port）(Positioning Pin)

Detachable Parallel Linear Gripper (Long Stroke Type)

When opened: 27.2 ＋2.400
When closed : 12.4 −0.6

Plug＊1（Opening Port）
Depth 3(Positioning Hole)

Depth 7HP04DL Series

Depth 6

Depth 3Depth 5Depth 4

View on Arrow A

Depth 6
Depth 3
(Positioning Hole)

Lower Hole φ3.4 Through-Hole＊2＊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.

122

CAD data provided■Dimensions

HP04DL-20C
Plug＊1

Depth 1.5
(Positioning Hole)

Depth3

Detachable Parallel Linear Gripper (Long Stroke Type)

When opened: 37.5 ＋2.200
When closed : 16.6 −1.0

（Closing Port）(Positioning Pin)

（Opening Port）

Depth 3
(Positioning Hole)

Depth 9Depth 8HP04DL Series

Depth 7
Depth 3.5
Depth 5View on Arrow A

Depth 8Depth 3.5
(Positioning Hole)

Lower Hole φ4.2 Through-Hole＊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.

123

Detachable Parallel Linear Gripper (Long Stroke Type)

HP04DL Series■Switch Groove Dimensions
φ5φ50B101620172430

B1012.516

B

B

BSizeACodeAA■Switch Protrusion Distance ■Switch Mounting

Detachable Parallel Linear Gripper (Long Stroke Type)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 a
precision screwdriver.
The tightening torque shall be0.1 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）
SwitchL
CylinderBore（mm）
Maximum
Protrusion
（mm）

φ10

φ16

φ20000SwitchMounting
GrooveResponse
Diﬀerence

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

HP04DL 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.

124