Parallel Mechanical Gripper

HP09R

Standard Type

SeriesSelectable Gripping Force
L: Low
M: Medium
H: HighThroughMounting HoleHigh Rigidity
High Accuracy
Positioning Holernal

HP09R Series

ExteForce

Parallel Mechanical Gripper (Standard Type)

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.
365

Parallel Mechanical Gripper (Standard Type)

HP09R

Series■ Model Code No.

HP09R

8L

Series Name
Nominal diameter
8

L: Low
M: Medium
H: High

HP09R Series

101620※Please feel free to consult us about
the grip forces (spring forces) otherthan the ones speciﬁed on the left.

■ Internal Structure Diagram

Parallel Mechanical Gripper (Standard Type)

4
Parts List
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

1

8

Metal

Oil-impregnated Sintered Bearing

9Knuckle

Stainless Steel

1310Roller

Carbon Steel

11Roller

Carbon Steel

12Hexagon Socket Head Bolt

Carbon Tool Steel

13Bearing

Stainless Steel

83711612Material

159NameNO210366

Gripping Force■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/ Gripping
Extrusion Extrusion ProductForceClosingdiameter
Mass(At Closing) Force
Force
Stroke［mm］ ［mm］ Note）3 ［N］
［g］
［N］
［N］

HP09R-8-L

72.5104.3

173.4

144.520

HP09R-10-H

7.231

HP09R-16-L

4.4

20

84（3.2～6.1）

HP09R-8-H
HP09R-10-L
HP09R-10-M
SingleActingNormally
Close

HP09R-16-M

1016

6.5（5.2～8.1）

10（10.3～13.6）

HP09R-16-H
HP09R-20-L
HP09R-20-M

2014（13.3～16.1）

HP09R-20-H

6.4

28

11.0

43

6.5

26

8.3

37

12.056Note）2

Outside Dimensions(T x W x L)
［mm］LeverRatio3031

13×20×41.1

1：250

78

20×36×53

1：2

130

156

25×50×58.7

1：2.2

210

312

32×62×75.3

1：2.2

Parallel Mechanical Gripper (Standard Type)

1.6

HP09R-8-M

HP09R Series

ActionTypeNot 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］

HP09R-8120.040.04

0.08

HP09R-10

50

0.4

0.4

0.8

HP09R-16

120112

HP09R-20

200

1.5

1.5

3Model
M B

M C367

Parallel Mechanical Gripper (Standard Type)

HP09RSeries■Effective Gripping Force

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

HP09R-8-L

HP09R-8-M

HP09R-8-H32110203040

3210G rip p in g P o in t L ［m m ］

HP09R-10-L

4060

Gripping Force [N]20407060

Gripping Force [N]220406080

100

3Gripping Force [N]490120

G rip p in g P o in t L ［m m ］

20406080

100

70

020406080

100

G rip p in g P o in t L ［m m ］

HP09R-20-H
20

96

3060

5

HP09R-20-M

640

10G rip p in g P o in t L ［m m ］

12820

G rip p in g P o in t L ［m m ］

HP09R-16-H

6

HP09R-20-L60315901030

6

HP09R-16-M

440

9012630

HP09R-10-H

G rip p in g P o in t L ［m m ］

HP09R-16-L

20

122070

10G rip p in g P o in t L ［m m ］

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

Gripping Force [N]04

G rip p in g P o in t L ［m m ］

368

40

6G rip p in g P o in t L ［m m ］

Gripping Force [N]Parallel Mechanical Gripper (Standard Type)

203084020

2

HP09R-10-M

60104G rip p in g P o in t L ［m m ］

Gripping Force [N]

HP09R 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
HP09R-8

HP09R-10

M
2010H

204030

L30
M
20H
100

G rip p in g P o in t L［m m ］

20406080

40

M3020

H

100

G rip p in g P o in t L［m m ］

L50

20406080

HP09R Series

10O v e rh a n g H ［m m ］

L30

0

HP09R-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 (Standard Type)O v e rh a n g H ［m m ］

HP09R-20

H20

0

30

60

90

120

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)369

Parallel Mechanical Gripper (Standard Type)

HP09RSeries
CAD data provided

HP09R-8-□(Positioning Pin)

HP09R Series

When opened：7. 8 00
When closed ：5.4 －0.6

＋3.8＊2■ Dimensions

Parallel Mechanical Gripper (Standard 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.

370

CAD data provided■Dimensions(Positioning Pin)

HP09R Series

When opened：13.800
When closed ：9.4 －0.6＋3.8＊2

HP09R-10-□

Depth 4
Parallel Mechanical Gripper (Standard Type)

Depth 4

View on Arrow A
Depth 4

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.

371

Parallel Mechanical Gripper (Standard Type)

HP09RSeries
CAD data provided

HP09R-16-□(Positioning Pin)

When opened：22.0
When closed ：12.4＋3.5＊ 200－0.6■Dimensions

HP09R Series
Parallel Mechanical Gripper (Standard Type)

Depth 5Depth 5View on Arrow ADepth 5

Depth 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.

372

CAD data provided

HP09R-20-□(Positioning Pin)

HP09R Series

When opened：28.0
When closed ：16.6＋3.8＊200－1.0■Dimensions

Parallel Mechanical Gripper (Standard Type)

Depth 7

Depth 7

Depth 6
View on Arrow A

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.

373