Parallel 3-Finger Mechanical Gripper

HP15M Series●Mechanical Gripper (Gripping by the use of the spring force)●High rigidity and high accuracy realized by the use of the linear guide●Gripping at the long point is available.
●With a hollow hole
Application

Bearing

Gear

HP15M

CylinderGear

MotoreExt

rce

FornalParallel 3-Finger Mechanical Gripper

Fit Tolerance for Shaft●Centering accuracy±0.05 mm or less
● Repeat accuracy±0.01 mm or less●Withstand Load,
Withstand Moment

Push

HP15M Series

Rotation

Hallow Hole
Positioning Pin
High Accuracy Linear Guide405Parallel 3-Finger Mechanical Gripper

HP15M Series■ Model Code No.

HP15M

16LSeries Name

HP15M Series

Nominal diameter

Gripping Force

162025

L: Low※Please feel free to consult us about
the grip forces (spring forces) other
M: Mediumthan the ones speciﬁed on the left.
H: HighParallel 3-Finger Mechanical Gripper■Internal Structure Diagram

5131

11 13 1278 149362

41015

Parts ListNO406

Name

Material

MaterialNO

1

Main Body

Aluminum Alloy

92

Piston Rod

Stainless Steel

10 CaseStainless Steel

3Pressure Cover

Aluminum Alloy

11 Knuckle

Stainless Steel

4

Pressure Cover

Stainless Steel

12 Roller

Carbon Steel5

Pressure Cover

Stainless Steel

13 Hexagon Socket Head Bolt

Stainless Steel

6SpringSpring Steel

14 Hexagon Socket Head Bolt

Stainless Steel

7Action Lever

Carbon Steel

15 Bearing

Stainless Steel

8

Fulcrum Pin

Carbon Tool Steel

Name

Metal

Oil-impregnated Sintered Bearing

■Speciﬁcations
Elastic Body to be Used

Compression spring

Action Type

Single Acting Normally Close (External force drive at opening)

Operating Temperature

0〜120

［℃］

RequiredLubrication
Maximum Operating Cycle［Cycle/min］

180

Centering Accuracy

［mm］

±0.07

Repeat Accuracy［mm］±0.01
Not mountable

Applicable SwitchModelNote）1 Allowable
Nominal Opening/ Gripping Extrusion
ForceExtrusion
diameter Closing
Force(At Closing)
StrokeForce［mm］ ［mm］Note）3
［N］
［N］
［N］

HP15M-16-L
HP15M-16-M

163（3〜4.8）

HP15M-16-H
HP15M-20-L

14524

734

738

1264

HP15M-20-H

1788

HP15M-25-L1266

HP15M-20-M

HP15M-25-M
HP15M-25-H

2025

5（5〜7）

7（6.3〜8.8）

1895

26138

LeverRatio

50

300

1：1.1130560

1：1.1210870

1：1.1Note）2Note 1): Extrusion force is an external force required to open the levers completely by overwhelming the spring force in the closing direction.
Note 2): The lever ratio is the "Extruded Distance (how much the 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. Values in the parentheses are measured values.

Parallel 3-Finger Mechanical Gripper

SingleActingNormallyClose3Product
Mass［g］

HP15M SeriesActionType407

Parallel 3-Finger Mechanical Gripper

HP15M Series■Eﬀective Gripping Force
842204042060 70

20Gripping Force [N]155020406052003060904060012030

Gripping Point L ［mm］

6090

HP15M-20-H

5301060 70

20406080 100

Gripping Point L ［mm］

HP15M-25-M

2040

10080 100

Gripping Force [N]302015

Gripping Point L ［mm］

HP15M-25-L

102010080 100

202

Gripping Point L ［mm］

HP15M-20-M

Gripping Point L ［mm］

304060 70

Gripping Force [N]

HP15M-20-L1040

HP15M-16-H

6

Gripping Point L ［mm］

Gripping Force [N]Parallel 3-Finger Mechanical Gripper

Gripping Force [N]1586

Gripping Point L ［mm］

Gripping Force [N]

HP15M Series

0HP15M-16-M
Gripping Force [N]

HP15M-16-L
Gripping Force [N]Gripping Force [N]6When the levers are full open
When the levers are full closed

20100120

HP15M-25-H

Gripping Point L ［mm］

306090120

Gripping Point L ［mm］

■Gripping Point Limit Range
30105020

406080100

Gripping Point L ［mm］

408

HP15M-2050

Gripping Force [N]

HP15M-16
Gripping Force [N]Gripping Force [N]1520100306090120

Gripping Point L ［mm］

HP15M-25403020
100306090 120 150

Gripping Point L ［mm］

■Gripper Attachment Method
PipeAttachment Mounting

When you screw in a joint or
the like into the pipe port,tighten it with the following
torque.

When you mount the attachment, support it with a spanner orthe like so that the levers are not rattled. See the following
table for the tightening torque of the mounting bolts.
Bolt to be Used

Maximum Tightening
Torque［N・m］

HP15M-16

M3×0.51.14

M3×0.50.59

HP15M-20

M4×0.72.7

M5×0.8

1.57

HP15M-25

M5×0.8

5.4

HP15M Series

Model

Pipe Port

Maximum Tightening
Torque［N・m］

Main Body Mounting Method
1 When the through-hole of the main body is used

Bolt tobe Used

Maximum Tightening
Torque［N・m］

L［mm］

φ16

M3×0.5

0.59

18

φ20

M3×0.5

0.59

21

φ25

M4×0.7

1.37

21

L

2 When the mounting screw on the back side of the through-hole is used

Model

Bolt tobe Used

Maximum Tightening Torque
［N・m］

φ16

M4×0.71.37

φ20

M4×0.71.37

φ25

M5×0.8

2.84

Parallel 3-Finger Mechanical GripperModel3 When shank is used
φDModelShank Diameter［φD］

φ16

φ25−0.01
−0.03

φ20

φ30−0.01
−0.03

φ25

φ30−0.01−0.03409

Parallel 3-Finger Mechanical Gripper

HP15M Series■Dimensions

CAD data provided

HP15M-16-□
Through-Hole

Depth 4

HP15M Series

When opened：13.3 00
When closed ：10.3 −0.6＋1.2(Positioning Pin)

Parallel 3-Finger Mechanical Gripper

Depth 10

Depth 6Lower Hole φ3.2 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.

410

CAD data provided■Dimensions

HP15M-20-□
Through-Hole

Depth 5

HP15M Series

When opened：16.8 00
When closed ：11.8 −0.6
＋1.4

(Positioning Pin)

Parallel 3-Finger Mechanical Gripper

Depth 10

Depth 6Lower Hole φ3.2 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.

411

Parallel 3-Finger Mechanical Gripper

HP15M Series■Dimensions

CAD data provided

HP15M-25-□
Through-HoleDepth 7

HP15M Series

When opened：20.7 00
When closed ：14.4 −0.8
＋1.7

(Positioning Pin)

Parallel 3-Finger Mechanical Gripper

Depth 12

Depth 8Lower Hole φ4.2 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.

412