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Robohand_ra_90

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November 2018
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ANGULAR GRIPPERS Angular Grippers 2.1 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPERS 2.2 Angular Motion Gripper Product Overview RA DUA/RUA Series Cam Driven Series RA-5, 6, 7, 8 DESIGN ADVANTAGES • Inexpensive • Adjustable stroke • Rugged design RA-10 DESIGN ADVANTAGES • Extremely small (1in.) and lightweight (1 oz.) • Inexpensive TM Angular Gripper See Page 2.4 • 2-Jaw Angular Gripper • Features DIRECTCONNECT mounting (sizes 62-112) • Spring Assist • Pneumatic or Hydraulic Operation • Available in Two Strokes • Optional Magneto Resistive Sensors (except -142 & -162) See Page 2.16 See Page 2.38 See Page 2.50 RA Failsafe, Toggle Locking Series DCT/CT Series RA-15/25 DESIGN ADVANTAGES • Failsafe mechanical locking mechanism • High grip force-to-size ratio • Rugged design 180° Angular Gripper TM • 180° of travel (Optional Adjustable Stop) • Features DIRECTCONNECT mounting (sizes 12-25) • Sealed design protects internal components from chips and other particulate • Optional Resistive or Inductive Sensors RA-90 DESIGN ADVANTAGES • Adjustable,180° of travel • Mechanically locks in the full closed position • Eliminates one axis of motion in Pick & Place designs See Page 2.30 DCT-RE/CT-RE Series TM 180° Failsafe Angular Gripper • 180° of travel (Optional Adjustable Stop) • Spring Assist • Features DIRECTCONNECT mounting (sizes 12-25) • Sealed design protects internal components from chips and other particulate • Optional Magneto Resistive or Inductive Sensors For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Model # RA-15 • • • • • • • RA-25 • • • • • • • RA-90 • • • • • • • 0.05 - 0.1 sec. 0.1 - 0.5 sec. 0.5 - 0.75 sec. 0.75 - 1 sec. 5 - 100 psi [0.3 - 7 bar] 20 - 100 psi [1.5 - 7 bar] 40 - 100 psi [3 - 7 bar] 50 - 100 psi [3.5 - 7 bar] 70 - 150 psi [5 - 7 bar] Clean Room Environment Normal Environment Harsh/Dirty Environment Total Grip Force Range Maximum Finger Length @ 60 PSI Actuation Time Operating Pressure Environment CAM DRIVEN DESIGN RA-5 • • • • • • RA-6 • • • • • • RA-7 • • • • • • RA-8 • • • • • • RA-10 • • • • • FAILSAFE-TOGGLE • CYLINDRICAL DESIGN RUA/DUA-62 • • • • • • • • • • • RUA/DUA-82 • • • • • • • • • • • RUA/DUA-112 • • • • • • • • • • • RUA/DUA-142 • • • • • • • • • • RUA/DUA-162 • • • • • • • 180° DESIGN • • • DCT-12 • • • • • DCT-16 • • • • • • • • DCT-20 • • • • • • • • DCT-25 • • • • • • • • CT-32 • • • • • • • • CT-40 • • • • • • • • CT-50 • • • • • • • • • 180° FAILSAFE DESIGN DCT-12-RE • • • • • • DCT-16-RE • • • • • • • • • • • DCT-20-RE • • • • • • • • • • • DCT-25-RE • • • • • • • • • • • CT-32-RE • • • • • • • • • • • CT-40-RE • • • • • • • • • • • CT-50-RE • • • • • • • • • • • • • • For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPERS Double Acting Cylinder Single Acting/Spring Return Double Acting/Spring Assist Non-Synchronous Option Inductive Sensors Magneto Resistive Sensors Failsafe Operation 0 - 2 in. [0 - 50.8mm] 2 - 4 in. [50.8 - 102mm] 4 - 6 in. [102 - 152mm] 6 - 8 in. [152 - 203mm] 8 - 10 in. [203 - 254mm] 10 - 12 in. [254 - 305mm] 12 - 14 in. [305 - 356mm] 14 - 16 in. [356 - 406mm] 16 - 18 in. [406 - 457mm] 18 - 20 in. [457 - 508mm] 20 in.+ [508mm+] Stroke Range 1 - 10 lbs. [0.45 - 45Kg] 10 - 25 lbs. [45 - 111Kg] 25 - 50 lbs. [111 - 223Kg] 50 - 100 lbs. [223 - 445Kg] 100 - 500 lbs. [445 - 2225Kg] 500 - 3000 lbs. [2225 - 13350Kg] 12 Degrees 30 Degrees 180 Degrees Two Jaws Three Jaws Robohand Angular Gripper Product Selector 2.3 RA SERIES Angular GrippersCam Driven Series 2.4 • General Purpose: This style gripper is widely used in the industry and is a rugged design that supplies very high grip force for its size. • Cost Effective: The simplified drive mechanism makes these grippers an excellent value. Technical Specifications: Mounting Information: Grippers can be mounted & operated in any orientation Pneumatic Specifications Imperial Metric Pressure Operating Range 40-100 psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, 2-position Air Quality Requirements Air Filtration Air Lubrication Air Humidity Warning! Protect jaw mechanism from falling debris when mounted upside down Body mounts with screws and locates with slip fit dowel pins for accuracy G 40 Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -30°~180° F Viton® Seals (optional) -20°~300° F Maintenance Specifications† Expected Life Normal Application w/ Preventative Maintenance Field Repairable Seal Repair Kits Available -35°~80° C -30°~150° C 5 million cycles 10+ million cycles* Yes Yes *Addition of lubrication will greatly increase service life † See Maintenance Section Fingers attach to jaws with screws and locate by keying For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Style-RA Angular Gripper RA-5 RA-5M Size -5M Style: Stroke: 15° each finger Hard Coat Anodize The body has hard-coat anodize 60 RC with Teflon® impregnation Grip Force: 20 lbs. Weight: .25 lbs. Quality Components 89 N .11 Kg Dynamic components are hardened for wear resistance and long life Quality Manufacturing See Page Components are precision ground for minimal jaw play One Piece Body 2.6 RA SERIES Product Features One piece 7075-T6 aircraft quality aluminum body Sensor Magnets Standard Style-RA Angular Gripper Style: RA-6 RA-6M Size -6M Stroke: 15° each finger Grip Force: 44 lbs. Weight: .68 lbs. SelfLubricating Seals Stop Screw Limits open position of jaws See Page 196 N .31 Kg 2.7 Self lubricating dynamic seals (Buna-N only) Style-RA Angular Gripper Style: RA-7 RA-7M Size -7M Stroke: 15° each finger Operating Principle Grip Force: 120 lbs. Weight: 1.8 lbs. 534 N 0.8 Kg Cap Piston Body See Page Cam Style-RA Angular Gripper Style: RA-8 RA-8M Size -8M Stroke: 15° each finger Shaft Adjustment Plate Pressure Exhaust Jaw Grip Force: 180 lbs. Weight: 4.6 lbs. Exhaust Pressure Open Position 2.8 See Page Closed Position • A double acting piston is connected by a shaft to a cam. • The cam rolls in a slot located in each of the jaws converting vertical motion of the wedge into angular synchronous motion of the jaws. • This gripper is suitable for internal or external gripping. 801 N 2 Kg 2.9 Style-RA Angular Gripper RA-10 RA-10M Size -10M Style: Stroke: 15° each finger Grip Force: 16 lbs. Weight: .06 lbs. See Page 71 N .03 Kg 2.12 Designed and manufactured in the USA For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 2.5 ANGULAR GRIPPER RA-5M CAM DRIVEN SERIES 1.500 [38.1] 1.1875 [30.16] RA SERIES .750 [19.1] .250 [6.4] .375 [9.5] C L .075 [1.9] C L .500 [12.7] 1.00 [25.4] 2.6 2X #8-32 X .38 DP [M4 X 9 DP] 3X Ø .1250 SF X .18DP [Ø 3 H7 X 4 DP] Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Open Stroke Adjustment ........................... Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... .19 [5] CLOSE 1.187 1.010 [30.1] [25.7] C L 2X #4-40 X .12 DP [M3 X 3 DP] .51 [13] 2X #4-40 X .18 DP [M3 X 4 DP] 1.377 1.313 [35.0] [33.4] .250 [6.4] 15˚ STROKE .750 [19.1] STROKE ADJUSTMENT UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW 8X #4-40 X .18 DP [M3 X 4 DP] C L C L .250 [6.4] .375 [9.5] Dimensions are symmetrical about centerline .125 [3.2] Metric Threads Course Pitch 1.750 [44.5] GRIP FORCE PER FINGER 100 36 8 [7 b ar] .5 ba r] 60 PSI [4.1 ba r] SI [5 18 4 All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] 40 PSI [2.7 BASIC MODEL METRIC WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS PSI 80 P 27 6 Third Angle Projection How to Order: (Order Separately ) Loading Information N lbs. 45 10 .125 [3.2] .499 ±.001 [12.70 ±0.03] NOTE: JAWS CLOSE 1˚ PAST PARALLEL 1.250 [31.8] FINGER FORCE - F/2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.10 sec. 0.10 sec. ±0.005 in. ±0.13 mm ±0.003 in. ±0.08 mm 4-way, 2-position 2X #10-32 [M5] AIR PORTS (OPEN) .88 [22] C L RA-5 M - V VITON® SEALS bar] 9 2 0 0 0 0 .5 1 1.5 13 25 38 EFFECTIVE FINGER LENGTH - L 2 in. 50mm Z L C MZ Z X Y T F/2 MX Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz † RA-5 RA-5M 20 lbs. 89 N 15° of stroke for each finger 15° of stroke for each finger 0.25 lbs. 0.11 Kg 40-100 psi 3-7 bar .813 in. 20.6 mm 0.130 in3. 2.1 cm3 † MY Static Imperial Metric 10 lbs. 10 lbs. 10 in.-lbs. 10 in.-lbs. 10 in.-lbs. F/2 Dynamic Imperial Metric 44 N 10 lbs. 44 N 10 lbs. 1.1 Nm 10 in.-lbs. 1.1 Nm 10 in.-lbs. 1.1 Nm 10 in.-lbs. Capacities are per set of jaws and are not simultaneous 44 N 44 N 1.1 Nm 1.1 Nm 1.1 Nm SENSOR ACCESSORIES 4mm NPN Magneto Resistive Sensor* 4mm PNP Magneto Resistive Sensor* 4mm NPN 90° Magneto Resistive Sensor* 4mm PNP 90° Magneto Resistive Sensor* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* ORDER # QTY/UNIT OHSN-008 OHSP-008 OHSN-011 OHSP-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) Fail Safe Valve (Metric) Standard Seal Repair Kit Viton® Seal Repair Kit OFSV-001 OFSV-004 SLKT-022 SLKT-022V 1 1 1 1 *Sensor and cable sold separately. .70 [18] HALL EFFECT SENSOR FAILSAFE VALVE .63 [16] 2.42 [61] MIN. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 2.000 [50.8] 1.6875 [42.86] 3X Ø.1250SF X .18DP [Ø4H7 X 4DP] 2X #10-32 X .50DP [M5 X 12DP] .842 [21.4] .421 [10.7] .312 [7.9] CL 2X .075 [1.9] 1.500 [38.1] .624 [15.8] CL 2X #10-32 [M5] AIR PORTS(OPEN) Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Open Stroke Adjustment ........................... Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... RA-6 RA-6M 44 lbs. 196 N 15° of stroke for each finger 15° of stroke for each finger 0.69 lbs. 0.31 Kg 40-100 psi 3-7 bar 1.250 in. 31.8 mm 0.300 in3. 4.9 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.11 sec. 0.11 sec. ±0.005 in. ±0.13 mm ±0.003 in. ±0.08 mm 4-way, 2-position 1.19 [30] 2X #8-32 X .19DP [M4 X 4DP] CL CL .24 [6] CLOSE 2X #8-32 X .38DP [M4 X 9DP] .60 [15] 1.250 1.482 [31.8] [37.6] 1.954 1.792 1.750 [49.6] [45.5] [44.5] .375 [9.5] 15˚ STROKE 1.626 [41.3] 1.000 [25.4] STROKE ADJUSTMENT CL 8X #8-32 X .38DP [M4 X 9DP] CL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW .375 [9.5] Dimensions are symmetrical about centerline .500 [12.7] Metric Threads Course Pitch .187 [4.7] 2.418 [61.4] Loading Information FINGER FORCE - F/2 67 15 45 10 22 5 0 0 .5 1 1.5 2 13 25 38 50 EFFECTIVE FINGER LENGTH - L Z C 2.5 in. 64mm MZ Z X Y T F/2 F/2 MX Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz † † MY Static Imperial Metric 20 lbs. 20 lbs. 20 in.-lbs. 20 in.-lbs. 20 in.-lbs. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] VITON® SEALS r] L Imperial in. RA-6 M - V 40 PSI [2.7 ba 0 0 All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] BASIC MODEL METRIC WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PS I [7 ba r] 80 PSI [5 .5 bar] 60 PSI [4.1 bar] 89 20 Third Angle Projection How to Order: (Order Separately ) GRIP FORCE PER FINGER N lbs. 111 25 .187 [4.7] .7485±.001 [19.01±0.03] NOTE: JAWS CLOSE 1˚ PAST PARALLEL Dynamic Imperial Metric 89 N 20 lbs. 89 N 20 lbs. 2.3 Nm 20 in.-lbs. 2.3 Nm 20 in.-lbs. 2.3 Nm 20 in.-lbs. Capacities are per set of jaws and are not simultaneous SENSOR ACCESSORIES 4mm NPN Magneto Resistive Sensor* 4mm PNP Magneto Resistive Sensor* 4mm NPN 90° Magneto Resistive Sensor* 4mm PNP 90° Magneto Resistive Sensor* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* ORDER # QTY/UNIT OHSN-008 OHSP-008 OHSN-011 OHSP-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) Fail Safe Valve (Metric) Standard Seal Repair Kit Viton® Seal Repair Kit OFSV-001 OFSV-004 SLKT-023 SLKT-023V 1 1 1 1 *Sensor and cable sold separately. 1.01 [26] HALL EFFECT SENSOR FAILSAFE VALVE .63 [16] 89 N 89 N 2.3 Nm 2.3 Nm 2.3 Nm 2.67 [68] MIN. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA SERIES ANGULAR GRIPPER RA-6M CAM DRIVEN SERIES 2.7 ANGULAR GRIPPER RA-7M CAM DRIVEN SERIES 2X 5/16-18 X .75 DP [M8 X 19 DP] 3.000 [76.2] 2.3750 [60.33] RA SERIES CL 1.000 [25.4] .500 [12.7] 2.000 [50.8] CL .075 [1.9] 2.8 SENSOR MNTG SLOTS .550 [14.0] 2X Ø .2500 SF X .25 DP [Ø 6H7 X 6DP] 1.100 [27.9] 2X 1/8NPT [G1/8"] AIR PORTS (CLOSE) 2.000 [50.8] OPEN Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Open Stroke Adjustment ........................... Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... RA-7 RA-7M 120 lbs. 534 N 15° of stroke for each finger 10° of stroke for each finger 1.8 lbs. 0.8 Kg 40-100 psi 3-7 bar 1.750 in. 44.4 mm 0.601 in3. 9.8 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.15 sec. 0.15 sec. ±0.005 in. ±0.13 mm ±0.003 in. ±0.08 mm 4-way, 2-position CL CL .33 [8] 2X #10-32 X .25 DP [M5 X 6 DP] .90 [23] 2.238 [56.8] 1.653 2.000 [42.0] [50.8] 2X #10-32 X .375 DP [M5 X 9 DP] 2.375 [60.3] .500 [12.7] 2.393 [60.8] .250 [6.4] 15˚ STROKE NOTE: JAWS CLOSE 1˚ PAST PARALLEL 2.550 [64.8] 1.000 [25.4] 3.600 [91.4] 1.375 [34.9] .625 [15.9] CL 8X #10-32 X .375 DP [M5 X 9 DP] .500 [12.7] CL Dimensions are symmetrical about centerline Metric Threads Course Pitch .250 [6.4] STROKE ADJUSTMENT Loading Information 223 50 SI [7 bar] [5.5 ba r] 60 PSI [4 .1 bar] 40 PSI [2.7 bar] 80 PSI 134 30 89 20 1 2 3 25 51 76 EFFECTIVE FINGER LENGTH - L 4 in. 102mm Z C MZ Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz X F/2 Static Imperial Metric 60 lbs. 60 lbs. 60 in.-lbs. 60 in.-lbs. 60 in.-lbs. Z Y T MX † Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] VITON® SEALS 0 0 L Imperial in. RA-7 M - V 45 10 0 0 All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] BASIC MODEL METRIC WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 P 178 40 Third Angle Projection How to Order: (Order Separately) GRIP FORCE PER FINGER N lbs. 267 60 FINGER FORCE - F/2 UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW F/2 MY Dynamic Imperial Metric 267 N 60 lbs. 267 N 60 lbs. 6.8 Nm 60 in.-lbs. 6.8 Nm 60 in.-lbs. 6.8 Nm 60 in.-lbs. 267 N 267 N 6.8 Nm 6.8 Nm 6.8 Nm SENSOR ACCESSORIES 4mm NPN Magneto Resistive Sensor* 4mm PNP Magneto Resistive Sensor* 4mm NPN 90° Magneto Resistive Sensor* 4mm PNP 90° Magneto Resistive Sensor* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* ORDER # QTY/UNIT OHSN-008 OHSP-008 OHSN-011 OHSP-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) Fail Safe Valve (Metric) Standard Seal Repair Kit Viton® Seal Repair Kit OFSV-001 OFSV-004 SLKT-118 SLKT-118V 1 1 1 1 *Sensor and cable sold separately. 1.35 [34] HALL EFFECT SENSOR FAILSAFE VALVE .84 [21] † Capacities are per set of jaws and are not simultaneous 3.56 [90] MIN. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 4.000 [101.6] 3.3750 [85.72] 2X 3/8-16 X .75DP [M10 X 19DP] CL .750 [19.0] 1.500 [38.1] 3.000 [76.2] CL .075 [1.9] SENSOR MNTG SLOTS .550 [14.0] 1.100 [27.9] 2X Ø.3750SF X .375DP [Ø10H7 X 9DP] 2.500 [63.5] Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Open Stroke Adjustment ........................... Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 2X 1/8NPT [G1/8"] AIR PORTS (CLOSE) CL RA-8 RA-8M 150 lbs. 667 N 15° of stroke for each finger 10° of stroke for each finger 4.6 lbs. 2.1 Kg 40-100 psi 3-7 bar 2.500 in. 63.5 mm 1.320 in3. 21.6 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.23 sec. 0.23 sec. ±0.005 in. ±0.13 mm ±0.003 in. ±0.08 mm 4-way, 2-position CL .429 [10.9] 2X 5/16-18 X .375DP [M8 X 9DP] 1.154 [29.3] 2.037 2.500 [51.7] [63.5] 3.000 [76.2] 2X 5/16-18 X .5DP [M8 X 13DP] 2.875 [73.0] .750 [19.0] .375 [9.5] 15˚ STROKE NOTE: JAWS CLOSE 1˚ PAST PARALLEL 3.125 [79.4] 1.500 [38.1] 4.535 [115.2] CL 1.750 [44.4] .875 [22.2] 8X 5/16-18 X .375DP [M8 X 9DP] CL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW .750 [19.0] Dimensions are symmetrical about centerline STROKE ADJUSTMENT .375 [9.5] Metric Threads Course Pitch Loading Information FINGER FORCE - F/2 100 PSI [7 b ar] 80 P SI [5 .5 ba r] 60 PS I [4.1 bar] 40 PSI [2 .7 bar] 223 50 178 40 134 30 89 20 0 0 1 25 2 3 4 5 51 76 102 127 EFFECTIVE FINGER LENGTH - L Z L C MZ Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz † Z X F/2 MX † 6 in. 153mm Y T F/2 MY Static Imperial Metric 90 lbs. 90 lbs. 90 in.-lbs. 90 in.-lbs. 90 in.-lbs. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Dynamic Imperial Metric 400 N 90 lbs. 400 N 400 N 90 lbs. 400 N 10.2 Nm 90 in.-lbs. 10.2 Nm 10.2 Nm 90 in.-lbs. 10.2 Nm 10.2 Nm 90 in.-lbs. 10.2 Nm Capacities are per set of jaws and are not simultaneous RA-8 M - V VITON® SEALS 45 10 0 0 Imperial in. BASIC MODEL METRIC WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 312 70 267 60 All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] How to Order: (Order Separately) GRIP FORCE PER FINGER N lbs. 356 80 Third Angle Projection SENSOR ACCESSORIES 4mm NPN Magneto Resistive Sensor* 4mm PNP Magneto Resistive Sensor* 4mm NPN 90° Magneto Resistive Sensor* 4mm PNP 90° Magneto Resistive Sensor* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* ORDER # QTY/UNIT OHSN-008 OHSP-008 OHSN-011 OHSP-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 PNEUMATIC ACCESSORIES Fail Safe Valve (Imperial) Fail Safe Valve (Metric) Standard Seal Repair Kit Viton® Seal Repair Kit OFSV-002 OFSV-005 SLKT-019 SLKT-019V 1 1 1 1 *Sensor and cable sold separately. 1.85 [47] HALL EFFECT SENSOR FAILSAFE VALVE .84 [21] 4.06 [103] MIN. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA SERIES SERIES RA ANGULAR GRIPPER RA-8M CAM DRIVEN SERIES 2.9 2.9 RA-5, 6, 7, 8 Series Exploded View Item Qty Name RA 5, 6, 7, 8 SERIES MAINTENANCE 01 02 03 04 05 06 07 30 31 40 2.10 Body Jaw Wedge Piston Cap Plate, Adjustment Shaft SSS, Nylon Patch, Cup Point Dowel Pin Magnet NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure 1) Lubricate and install seals. 2) Glue magnet into piston. 3) Install piston and wedge. 4) Install jaws (press dowel pins through fingers from air port side). 5) Install cap and retaining ring. 6) Install adjustment plate. 7) Set adjustment screw for desired stroke. NOTE: Item #7 on RA-7&8 only. 5 SK 1 2 1 1 1 1 1 1 2 2 4 40 SK 7 SK Seal Repair Kit Order #’s See Product Data Sheets 1 2 31 3 6 30 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA-5, 6, 7, 8 Series Assembled View 01 02 03 04 05 06 07 30 31 40 5 1 40 7 4 1 2 1 1 1 1 1 1 2 2 Body Jaw Wedge Piston Cap Plate, Adjustment Shaft SSS, Nylon Patch, Cup Point Dowel Pin Magnet NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 3 2 30 6 31 Accessory Installation & Adjustment Instructions Installation 1) Install sensors in profile slots as shown. 2) Set with integrated set screw. 2 1 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA 5, 6, 7, 8 SERIES MAINTENANCE Item Qty Name 2.11 ANGULAR GRIPPER RA-10M CAM DRIVEN SERIES Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation Time .......................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... RA SERIES 1.000 [25.4] Ø.0938 SF X .08 DP [Ø 2 H7 X 2 DP] .750 [19.1] C L .750 [19.1] 1.000 C L [25.4] 2.12 2X #6-32 X .25 DP [M4 X 6 DP] 2X #3-56 [M3] AIR PORTS (OPEN) (FITTINGS SUPPLIED FOR .06 [2.0] TUBING ID .562 [14.3] .16 [4] C L C L RA-10 RA-10M 16 lbs. 71 N 15° of stroke for each finger 0.063 lbs. 0.03 Kg 40-100 psi 3-7 bar .813 in. 20.6 mm 0.026 in3. .4 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.08 sec. 0.08 sec. ±0.003 in. ±0.08 mm ±0.001 in. ±0.03 mm 4-way, 2-position .750 [19.1] C L .34 [9] .500 [12.7] .813 [20.7] .37 [9] 1.062 [27.0] 1.437 [36.5] .126 [3.2] 2X #6-32 X .25 DP [M4 X 6DP] CLOSE .250 [6.4] .13 [3] 4X #6-32 [M3] THRU 30˚ .310 ±.001 [7.87±0.03] .187 [4.7] STROKE NOTE: JAWS CLOSE 1˚ PAST PARALLEL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information GRIP FORCE PER FINGER N lbs. 36 8 31 7 FINGER FORCE - F/2 How to Order: (Order Separately) WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PSI [7 b 80 P SI [5 ar] .5 ba r] 60 PS I [4.1 bar] 40 PSI [2.7 ba r] 27 6 22 5 18 4 13 3 BASIC MODEL METRIC RA-10 M - V 9 2 VITON® SEALS 5 1 0 0 0 0 5 1 13 25 EFFECTIVE FINGER LENGTH - L 1.5 38 mm Z L C MZ Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz PNEUMATIC ACCESSORIES Standard Seal Repair Kit Viton® Seal Repair Kit F/2 QTY/UNIT 1 1 F/2 MY Static Imperial Metric Dynamic Imperial Metric 5 lbs. 5 lbs. 5 in.-lbs. 5 in.-lbs. 5 in.-lbs. 5 lbs. 5 lbs. 5 in.-lbs. 5 in.-lbs. 5 in.-lbs. 22 N 22 N 0.6 Nm 0.6 Nm 0.6 Nm Order # SLKT-018 SLKT-018V X Y T MX † Z 22 N 22 N 0.6 Nm 0.6 Nm 0.6 Nm † Capacities are per set of jaws and are not simultaneous For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Item Qty Name 01 02 03 04 05 06 31 Body Cap Jaw Piston Shaft Pin Dowel Pin 1 1 2 1 1 1 2 RA-10 SERIES MAINTENANCE RA-10 Series Exploded View NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. SK 2 Seal Repair Kit Order #’s See Product Data Sheet 4 5 6 3 1 31 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 2.13 RA-10 SERIES MAINTENANCE RA-10 Series Assembled View 2 1 2.14 4 Item Qty Name 01 02 03 04 05 06 31 Body Cap Jaw Piston Shaft Pin Dowel Pin 1 1 2 1 1 1 2 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 5 6 31 3 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA SERIES DESIGN NOTES QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY 2.15 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RUA/DUA SERIES 2.16 Angular GrippersCylindrical Spring Assist Series • Cost effective: The simplified drive mechanism makes these grippers an excellent value • Compact, robust & powerful gripper: This gripper is designed for use in confined spaces, combining large opening angle with a high torque. Optional safety springs retain the components, should the air supply fail or to increase grip force. • Multipurpose gripper: A wide range of options and accessories (hydraulic or pneumatic operation, safety springs for internal or external clamping, Viton® seals, and magneto resistive or inductive sensing) allow these grippers to be used in a number of applications. • Harsh environment: Shielded design repels chips and other particulate from internal drive mechanism Technical Specifications: Mounting Information: Grippers can be mounted & operated in any orientation Gripper can be operated utilizing top manifold air ports. Gripper is located using pilot boss and a dowel pin and assembled with 4 through body screws. G DirectConnect Body mounts with 4 screws and locates with 2 slip fit dowel pins. Fingers are located on jaws with 2 dowel pins and assembled with 1 screw. Specifications Imperial Metric Pneumatic Pressure Operating Range: Standard 30-100 psi 2-7 bar with -RE, -RI Spring Option 45-100 psi 3-7 bar Hydraulic Pressure Operating Range:** Hydraulic 30-290 psi 2-20 bar with -RE, -RI Spring Option 45-290 psi 3-20 bar Cylinder Type Double Acting or Single Acting Spring Return or Double Acting Spring Assist Dynamic Seals Internally Lubricated Buna-N Valve Required 4-way, 2-position for Double Acting to Operate or 3-way, 2-position for Single Acting Air Quality Requirements Air Filtration 40 Micron or Better Air Lubrication Not Necessary* Air Humidity Low Moisture Content (dry) Temperature Operating Range Viton® Seals -20°~300° F -30°~150° C Maintenance Specifications† Expected Life Normal Application 5 million cycles w/ Preventative Maintenance 10+ million cycles* Field Repairable Yes Seal Repair Kits Available Yes *Addition of lubrication will greatly increase service life † See Maintenance Section ** The gripper can be operated at 290psi (20 bars) MAXIMUM hydraulic pressure. Cycle times are longer and may depend on the hydraulic system. Grippers must be mounted before being operated under hydraulic pressure. Please contact factory for more information. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Style -RUA/DUA Angular Gripper Style: RUA-62M Size -62M Stroke: 33.6° Gripper Attachment Quality Components Made of Aluminum alloy, hard coat anodized with Teflon Impregnation. The gripper’s main components are made of heat treated steel. Shielded Case and Covers From the top or from the back using DirectConnect pattern (except sizes 142M & 162M). Grip Force:* 86 lbs Weight: 0.86 lbs 384 N 0.39 Kg Gripper is shielded to repel chips and other particulate from internal drive mechanism. Viton® Seals See Page ® Standard Viton seals for high temperatures (-20°F to +300°F) Hydraulic Operation Optional hydraulic seals for 290 psi [20 bar] Max. operation 2.18 Style -RUA/DUA Angular Gripper Style: RUA-82M Size -82M Stroke: 31.8° Multiple Ports Grip Force:* 276 lbs Weight: 1.54 lbs 1228 N 0.70 Kg Side or top manifold ports Safety Springs Optional springs retain the component, should the air supply fail, to assist the gripper for internal (-RI) or external (-RE) gripping, or in single acting or spring assist mode Magneto Resistive Sensing Integrated Inductive Sensor The gripper comes with adjustable slots for 2 magnetic sensors. (to control jaw position). Must be used with -RE or -RI option. (Except sizes 142M & 162M) An integrated sensor (KT1 or KT2 option) allows to sense jaws in open or closed position See Page 2.20 Style -RUA/DUA Angular Gripper RUA-112M Size -112M Style: Stroke: 38.2° Operating Principle Grip Force:* 483 lbs Weight: 3.75 lbs Shielded Case 2150 N 1.70 Kg Jaw Pivot Pin See Page Body 2.22 Cam Lever Style -RUA Angular Gripper RUA-142M Size -142M Style: Stroke: 35.2° Piston Grip Force:* 1298 lbs Weight: 9.05 lbs 5775 N 4.1 Kg Cam Driver Groove Spring Cap See Page Pressure Exhaust Exhaust Pressure - A double acting piston, connected to a cam driver with a groove, drives the cams levers. - The piston’s translatory motion makes the cams levers rotate in a synchronous motion. - Optional springs can be used to increase the grip force, to hold part in the event of loss of air, or to use the gripper in single acting mode. - This gripper is suitable for internal or external gripping. 2.24 Style -RUA Angular Gripper RUA-162M Size -162M Style: Stroke: 34.4° Grip Force:* 1778 lbs Weight: 14.80 lbs See Page 7911 N 6.7 Kg 2.26 *Grip force @ 100PSI, L=1" [25.4], with spring, jaws at 0º For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RUA/DUA SERIES Product Features 2.17 ANGULAR GRIPPER RUA/DUA-62M SPRING ASSISTED SERIES 21.5 0.846 [3 h7] Ø 0.1181 SF 16.0 0.630 10.0 0.394 19.0 0.748 [50.8] Ø 2.000 2 [G1/8 x 5 DP] [4.5] 4 x Ø 0.177 [ M5 x 7 DP] Close 24.0 0.945 6.0 0.236 Open 13.00 0.5118 Purge port Purge / Scavenge port [ M5 x 6 ] CL [10 f8] 0.3937 30° 20° 60.0 Ø 2.362 20° 2.18 4 5° 13.0 0.512 20° RUA/DUA SERIES 53.0 2.087 [ 38.1 h7 ] Ø 1.5000 SF 35.0 1.378 40 Open Close 3.0 0.118 2.6 0.102 [ 5 H9 x 13 DP] Ø 0.1969 SF x 0.512 ° 40° Manifold air port Supplied plugged 37.5 1.476 48.0 1.890 -KT: Inductive sensor DUA: DirectConnect version 4 x [M3 x 5 DP] 60.0 2.362 Opened: 13° 76.0 2.992 4 x [M5 x 8 DP] 38.10 1.5000 Sensing range (From close position) CL Yellow LED Green LED KT1 0° to 3.4° 13.4° to 16.8° KT2 0° to 6.8° 10° to 16.8° Inductive sensor Closed: 3.9° 9.5 0.375 55.0 2.165 CL 2x[ 3 H7 x 4 DP] 2x[ 5 H7 x 7 DP] 19.05 0.7500 Same attachment as gripper 71.0 2.795 UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline ™ NOTE: DIRECTCONNECT DIMENSIONS ARE SHOWN IN BLUE Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Separately) BASIC MODEL SPRING ASSIST - 62M - - POWER P-Pneumatic H-Hydraulic (See Below) INTEGRATED SENSOR BASIC MODEL RUA Without DirectConnect mounting pattern DUA With DirectConnect mounting pattern POWER P Pneumatic H Hydraulic (20 bar max.) SPRING RE Closed RI Open __ Leave Blank. No Spring Option (standard) INDUCTIVE CASE* KT1 Sensing Range KT1 KT2 Sensing Range KT2 __ Leave Blank. No Inductive Option * Inductive Case not available with DUA model SAMPLE ORDER: RUA-62M-P-RI-KT1 Ex: RUA-62M Gripper, Pneumatic, Spring Open, Sensing Range KT1 SENSOR ACCESSORIES PNP Magneto Resistive Sensor w/Qk Disconnect* ** †† NPN Magneto Resistive Sensor w/Qk Disconnect* ** †† PNP Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† PNP Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† Replacement PNP Double Inductive Sensor* *** Quick Disconnect 2 Meter Cable* Quick Disconnect 5 Meter Cable* Quick Disconnect 2 Meter Cable (for KT15 Inductive Sensor)* ORDER # QTY/UNIT OHSP-006 OHSN-006 OHSP-008 OHSN-008 OHSP-011 OHSN-011 KT15 CABL-010 CABL-013 CABL-014 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 SEALED BOOT KITS PVC Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-367 Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-368 FireProof Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-369 1 SEAL REPAIR KIT Viton® Seal Repair Kit 1 PNEUMATIC HYDRAULIC SLKT-156V SLKT-330V *Sensor and cable sold separately †Requires Mounting Kit **Piston magnet standard ††Not compatible with Hydraulic (-H) option and requires -RE or -0RI option ***Requires KT1 or KT2 Inductive Case Option For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 1 1 ANGULAR GRIPPER RUA/DUA-62M SPRING ASSISTED SERIES GRIP FORCE PER FINGER (at 0° with Spring Assist) N lbs. 1750 393 RUA/DUA-62M 1500 337 1250 281 290 PSI [ 20 bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 1000 225 750 169 100 PSI [7 bar] 500 112 80 PSI [5.5 bar] 60 PSI [4.1 bar] 250 56 0 PSI [0 bar] 0 0 .5 1 1.5 2.0 2.5 3.0 in. 0 13 25 38 51 64 76mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z X Y L F/2 F/2 C T Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz My Static Dynamic 53 lbs. [236 N] 53 lbs. [236 N] 111 in.-lbs. [12.5 Nm] 305 in.-lbs. [34.5 Nm] 111 in.-lbs. [12.5 Nm] 11 lbs. [47.2 N] 11 lbs. [47.2 N] 27 in.-lbs. [3.1 Nm] 31 in.-lbs. [3.5 Nm] 27 in.-lbs. [3.1 Nm] Accessory Mounting Technical Data 1.212 30.8 0.715 18.2 0.6 15.2 0.728 18.5 0.51 13 OHSP/N 006 or OHSP/N 008 PLUMBING FITTING PLFT-038 0.117 3 OHSP/N 011 ADJUSTABLE FLOW CONTROL G1/8 VLVF-005 MR Sensors • PNP and NPN Magneto Resistive available • Sensors are slot mounted, no mounting kits required • Simple adjustment with slotted screw driver • Built in LED for ease of positioning and troubleshooting • Available with 2M or 5M Quick Disconnect mating cable (order separately) Plumbing Fittings • Adjustable flow controls: – Have thumb screw adjust with locking nut for adjusting actuation time – Available for 6mm OD tubing • Plumbing fittings: • For side air port location • Top airport are plugged as standard Boot Ø 3.268 83 Adapter plate for cover set up 0.445 11.3 2.138 54.3 Clamping Crown 2.19 0 -20°~300° F -30~150° C 0.18 sec./0.18 sec. ±0.002 in. ±0.05 mm ±0.0008 mm. ±0.02 mm 3-way, 2-position 4-way, 2-position 0.185 4.7 RUA/DUA SERIES 86 lbs. 384 N 70 lbs. 313 N 16.8° of stroke for each finger 0.86 lbs. 0.39 kg 30-100 psi 2-7 bar 45-100 psi 3-7 bar 1.57 in. 40 mm 0.73 in3. 12 cm3 FINGER FORCE - F/2 Specifications Total Rated Grip Force L=1 in [25.4mm] @ 0° 100 psi, 7 bar, w/spring................................ 100 psi, 7 bar, w/o spring ............................ Stroke................................................................ Weight .............................................................. Pressure Range (without springs) .................... Pressure Range (with springs) ......................... Cylinder Bore Ø ................................................ Displacement ................................................... Temperature Range Viton® Seals Standard .................................. Actuation (open/close)..................................... Accuracy........................................................... Repeatability..................................................... Valve required to actuate single acting ............ Valve required to actuate double acting........... • Protects the gripper mechanism • Provides better performance and longer life time in harsh environment • Three materials available depending on the application: – PVC for grinding applications (up to 176°F / 80°C) – Kevlar for machine applications (up to 480°F / 250°C) – Fireproof Kevlar for welding applications (up to 525°F / 275°C) • A provided spacer has to be added to the jaws For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER RUA/DUA-82M SPRING ASSISTED SERIES 21.0 0.827 29.0 1.142 [69.9] Ø 2.750 2 [G1/8 x 5 DP] 16.0 0.630 15.0 0.591 [ M6 x 12 DP] [5.3] 4 x Ø0.209 Close CL 31.0 1.220 15° 7.0 0.276 Open 20.00 0.7874 CL Purge port 40 Purge / Scavenge port [ M5 x 6 ] [13 f8] 0.5118 20° 80.0 3.150 30° 15.0 0.591 15° 2.20 [4 h7] Ø 0.1575 SF 4 5° RUA/DUA SERIES 57.0 2.244 [ 50.8 h7 ] 2.0000 SF 33.0 1.299 3.1 0.122 Open 40° 3.0 0.118 37.0 1.457 [ 5 H9 x 13 DP] Ø 0.1969 SF x 0.512 ° Close Manifold air port Supplied plugged 50.0 1.969 -KT: Inductive sensor DUA: DirectConnect version 68.0 2.677 Opened: 13° 8 x [M5 x 8 DP] 38.10 1.5000 Yellow LE D Green LE D KT1 0° to 2.4° 13.5° to 15.9° KT2 0° to 4.8° 11.1° to 19.9° CL 19.1 0.750 Closed: 2.9° Sensing range (F rom close position) 85.0 3.346 61.0 2.402 4 x [Ø5 H7 x 7 DP] Inductive sensor CL 19.1 0.750 Same attachment as gripper 78.0 3.071 38.10 1.5000 UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline ™ NOTE: DIRECTCONNECT DIMENSIONS ARE SHOWN IN BLUE Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Separately) BASIC MODEL - 82M - SPRING ASSIST - (See Below) - INTEGRATED SENSOR POWER P-Pneumatic H-Hydraulic BASIC MODEL RUA Without DirectConnect mounting pattern DUA With DirectConnect mounting pattern POWER P Pneumatic H Hydraulic (20 bar max.) SPRING RE Closed RI Open __ Leave Blank. No Spring Option (standard) INDUCTIVE CASE* KT1 Sensing Range KT1 KT2 Sensing Range KT2 __ Leave Blank. No Inductive Option * Inductive Case not available with DUA model SAMPLE ORDER: RUA-82M-H-RE-KT2 Ex: RUA-82M Gripper, Hydraulic, Spring Closed, Sensing Range KT2 SENSOR ACCESSORIES PNP Magneto Resistive Sensor w/Qk Disconnect* ** †† NPN Magneto Resistive Sensor w/Qk Disconnect* ** †† PNP Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† PNP Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† Replacement PNP Double Inductive Sensor* *** Quick Disconnect 2 Meter Cable* Quick Disconnect 5 Meter Cable* Quick Disconnect 2 Meter Cable (for KT15 Inductive Sensor)* ORDER # QTY/UNIT OHSP-006 OHSN-006 OHSP-008 OHSN-008 OHSP-011 OHSN-011 KT15 CABL-010 CABL-013 CABL-014 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 SEALED BOOT KITS PVC Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-370 Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-371 FireProof Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-372 1 SEAL REPAIR KIT Viton® Seal Repair Kit 1 PNEUMATIC HYDRAULIC SLKT-157V SLKT-331V *Sensor and cable sold separately †Requires Mounting Kit **Piston magnet standard ††Not compatible with Hydraulic (-H) option and requires -RE or -0RI option ***Requires KT1 or KT2 Inductive Case Option For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 1 1 ANGULAR GRIPPER RUA/DUA-82M SPRING ASSISTED SERIES GRIP FORCE PER FINGER (at 0° with Spring Assist) N lbs. 4000 899 RUA/DUA-82M 3500 787 RUA/DUA SERIES 276 lbs 1228 N 207 lbs. 922 N 15.9° of stroke for each finger 1.55 lbs. 0.70 kg 30-100 psi 2-7 bar 45-100 psi 3-7 bar 2.36 in. 60 mm 2.14 in3. 35 cm3 FINGER FORCE - F/2 Specifications Total Rated Grip Force L=1 in [25.4mm] @ 0° 100 psi, 7 bar, w/spring................................ 100 psi, 7 bar, w/o spring ............................ Stroke .............................................................. Weight .............................................................. Pressure Range (without springs) .................... Pressure Range (with springs) ......................... Cylinder Bore Ø ................................................ Displacement ................................................... Temperature Range Viton® Seals Standard .................................. Actuation (open/close)..................................... Accuracy........................................................... Repeatability..................................................... Valve required to actuate single acting ............ Valve required to actuate double acting........... 3000 674 290 PSI [ 20 bar] 2500 562 WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 2000 449 1500 337 100 PSI [7 bar] 1000 225 80 PSI [5.5 bar] 60 PSI [4.1 bar] 500 112 0 0 PSI [0 bar] 2.21 0 -20°~300° F -30~150° C 0.10 sec./0.10 sec. ±0.002 in. ±0.05 mm ±0.0008 mm. ±0.02 mm 3-way, 2-position 4-way, 2-position 0 .5 1 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 in. 0 13 25 38 51 64 76 89 102 114 127mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z X Y L F/2 F/2 C T Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz My Static Dynamic 65 lbs. [290 N] 65 lbs. [290 N] 168 in.-lbs. [19 Nm] 1071 in.-lbs. [121 Nm] 168 in.-lbs. [19 Nm] 13 lbs. [58 N] 13 lbs. [58 N] 42 in.-lbs. [4.8 Nm] 106 in.-lbs. [12 Nm] 42 in.-lbs. [4.8 Nm] Accessory Mounting Technical Data 1.212 30.8 0.715 18.2 0.6 15.2 0.185 4.7 0.728 18.5 0.51 13 OHSP/N 006 or OHSP/N 008 0.115 2.9 OHSP/N 011 ADJUSTABLE FLOW CONTROL G1/8 VLVF-005 PLUMBING FITTING PLFT-038 MR Sensors • PNP and NPN Magneto Resistive available • Sensors are slot mounted, no mounting kits required • Simple adjustment with slotted screw driver • Built in LED for ease of positioning and troubleshooting • Available with 2M or 5M Quick Disconnect mating cable (order separately) Adapter plate for cover set up Plumbing Fittings • Adjustable flow controls: – Have thumb screw adjust with locking nut for adjusting actuation time – Available for 6mm OD tubing • Plumbing fittings: • For side air port location • Top airport are plugged as standard 4.055 103 0.642 16.3 2.295 58.3 Clamping Crown Boot • Protects the gripper mechanism • Provides better performance and longer life time in harsh environment • Three materials available depending on the application: – PVC for grinding applications (up to 176°F / 80°C) – Kevlar for machine applications (up to 480°F / 250°C) – Fireproof Kevlar for welding applications (up to 525°F / 275°C) • A provided spacer has to be added to the jaws For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER RUA/DUA-112M SPRING ASSISTED SERIES 32.0 1.260 [5 h7] Ø 0.1969 SF 16.0 0.630 21.5 0.846 38.4 1.512 [ M8 x 13 DP] [95.3] Ø 3.750 [8.5] 4 x Ø 0.335 2 [G1/8 x 8 DP] 40.0 1.575 9.0 0.354 Open 25.40 1.0000 Purge port 40 Purge / Scavenge port [ M5 x 6 ] CL [19 f8] 0.7480 30° 15° 110.0 Ø 4.331 20° 2.22 4 5° Close 22.1 0.870 15° RUA/DUA SERIES 75.0 2.953 [ 76.2 h7 ] 3.0000 SF 45.0 1.772 3.1 0.122 [ 8 H9 x 13 DP] Ø 0.3150 SF x 0.512 Close 3.0 0.118 48.0 1.890 ° 40° Open Manifold air port Supplied plugged 66.0 2.598 DUA: DirectConnect version -KT: Inductive sensor 4 x [M10 x 13 DP] Opened: 13° 90.0 3.543 111.0 4.370 Sensing range (F rom close position) 4 x [M5x8 DP] 76.20 3.0000 Yellow LED Green LED KT1 0° to 1.9° 17.2° to 19.1° KT2 0° to 5.7° 13.4° to 19.1° CL Inductive sensor Closed: 6.2° 81.0 3.189 19.1 0.750 38.10 1.5000 2 x [Ø5 H7 x 7 DP] 2x[ Same attachment as gripper 102.0 4.016 CL 8 H7 x 8 DP] UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline ™ NOTE: DIRECTCONNECT DIMENSIONS ARE SHOWN IN BLUE Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Separately) BASIC MODEL SPRING ASSIST - 112M - - POWER P-Pneumatic H-Hydraulic (See Below) INTEGRATED SENSOR BASIC MODEL RUA Without DirectConnect mounting pattern DUA With DirectConnect mounting pattern POWER P Pneumatic H Hydraulic (20 bar max.) SPRING RE Closed RI Open __ Leave Blank. No Spring Option (standard) INDUCTIVE CASE* KT1 Sensing Range KT1 KT2 Sensing Range KT2 __ Leave Blank. No Inductive Option * Inductive Case not available with DUA model SAMPLE ORDER: RUA-112M-P-RI-KT2 Ex: RUA-112M Gripper, Pneumatic, Spring Open, Sensing Range KT2 SENSOR ACCESSORIES PNP Magneto Resistive Sensor w/Qk Disconnect* ** †† NPN Magneto Resistive Sensor w/Qk Disconnect* ** †† PNP Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (Short Barrel) w/Qk Disc* ** †† PNP Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† NPN Magneto Resistive Sensor (90° Barrel) w/Qk Disc* ** †† Replacement PNP Double Inductive Sensor* *** Quick Disconnect 2 Meter Cable* Quick Disconnect 5 Meter Cable* Quick Disconnect 2 Meter Cable (for KT15 Inductive Sensor)* ORDER # QTY/UNIT OHSP-006 OHSN-006 OHSP-008 OHSN-008 OHSP-011 OHSN-011 KT15 CABL-010 CABL-013 CABL-014 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 SEALED BOOT KITS PVC Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-373 Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-374 FireProof Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-375 1 SEAL REPAIR KIT Viton® Seal Repair Kit 1 PNEUMATIC HYDRAULIC SLKT-158V SLKT-332V *Sensor and cable sold separately †Requires Mounting Kit **Piston magnet standard ††Not compatible with Hydraulic (-H) option and requires -RE or -0RI option ***Requires KT1 or KT2 Inductive Case Option For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 1 1 ANGULAR GRIPPER RUA/DUA-112M SPRING ASSISTED SERIES GRIP FORCE PER FINGER (at 0° with Spring Assist) N lbs. 6000 1348 RUA/DUA-112M -20°~300° F -30~150° C 0.35 sec./0.35 sec. ±0.003 in. ±0.08 mm ±0.0008 mm. ±0.03 mm 3-way, 2-position 4-way, 2-position 5000 1124 4000 899 290 PSI [ 20 bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 3000 674 2000 449 RUA/DUA SERIES 483 lbs. 2150 N 360 lbs. 1600 N 19.1° of stroke for each finger 3.75 lbs. 1.70 kg 30-100 psi 2-7 bar 45-100 psi 3-7 bar 2.99 in. 76 mm 85 cm3 5.19 in3. FINGER FORCE - F/2 Specifications Total Rated Grip Force L=1 in [25.4mm] @ 0° 100 psi, 7 bar, w/spring................................ 100 psi, 7 bar, w/o spring ............................ Stroke .............................................................. Weight .............................................................. Pressure Range (without springs) .................... Pressure Range (with springs) ......................... Cylinder Bore Ø ................................................ Displacement ................................................... Temperature Range Viton® Seals Standard .................................. Actuation (open/close)..................................... Accuracy........................................................... Repeatability..................................................... Valve required to actuate single acting ............ Valve required to actuate double acting........... 100 PSI [7 bar] 80 PSI [5.5 bar] 60 PSI [4.1 bar] 1000 225 0 PSI [0 ba r] 0 2.23 0 0 1 2 3 4 5 6 7 in. 0 25 51 76 102 127 152 180mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z X Y L F/2 F/2 C T Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz My Static Dynamic 107 lbs. [475 N] 107 lbs. [475 N] 319 in.-lbs. [36 Nm] 2159 in.-lbs. [244 Nm] 319 in.-lbs. [36 Nm] 21 lbs. [95 N] 21 lbs. [95 N] 80 in.-lbs. [9 Nm] 212 in.-lbs. [24 Nm] 80 in.-lbs. [9 Nm] Accessory Mounting Technical Data 0.715 18.2 1.212 30.8 0.6 15.2 0.185 4.7 0.728 18.5 0.51 13 OHSP/N 006 or OHSP/N 008 ADJUSTABLE FLOW CONTROL G1/8 VLVF-005 OHSP/N 011 PLUMBING FITTING PLFT-038 MR Sensors • PNP and NPN Magneto Resistive available • Sensors are slot mounted, no mounting kits required • Simple adjustment with slotted screw driver • Built in LED for ease of positioning and troubleshooting • Available with 2M or 5M Quick Disconnect mating cable (order separately) Plumbing Fittings • Adjustable flow controls: – Have thumb screw adjust with locking nut for adjusting actuation time – Available for 6mm OD tubing • Plumbing fittings: • For side air port location • Top airport are plugged as standard Adapter plate for cover set up Boot 5.827 148 0.898 22.8 3.004 76.3 Clamping Crown • Protects the gripper mechanism • Provides better performance and longer life time in harsh environment • Three materials available depending on the application: – PVC for grinding applications (up to 176°F / 80°C) – Kevlar for machine applications (up to 480°F / 250°C) – Fireproof Kevlar for welding applications (up to 525°F / 275°C) • A provided spacer has to be added to the jaws For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER RUA-142M SPRING ASSISTED SERIES [ 2 x M8 x 18 DP] [ 8 H9 x 20 DP] Ø 0.3150 SF x 0.787 [122.2] Ø 4.811 22.0 0.866 27.0 1.063 [8.5] 6 x Ø 0.335 30° 2 [G1/4 x 10 DP] ° Close 55.0 2.165 30° 20° 140.0 5.512 9.0 0.354 30° 26.0 1.024 60 Close 15° 2.24 43.0 1.693 [6 m6] 2 x Ø 0.2360 SF 30° RUA SERIES 107.0 4.213 Purge port 24.0 0.945 Open Open CL Purge / Scavenge port [ G1/8 x 8 ] [22 f8] 0.8661 24.0 0.945 66.0 2.598 3.7 0.146 [107.95 h7] Ø 4.2500 Manifold air port Supplied plugged 71.0 2.795 95.0 3.740 5.0 0.197 -KT: Inductive sensor Sensing range (F rom close position) 152.5 6.004 Opened: 13° Yellow LE D Green LE D KT1 0° to 2.8° 14.8° to 17.6° KT2 0° to 5.4° 12.2° to 17.6° Same attachment as gripper Closed: 4.6° 15° 140.5 5.531 Inductive sensor Inductive sensor UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Separately) BASIC MODEL SPRING ASSIST RUA -142M - - POWER P-Pneumatic H-Hydraulic (See Below) INTEGRATED SENSOR POWER P Pneumatic H Hydraulic (20 bar max.) SPRING RE Closed RI Open __ Leave Blank. No Spring Option (standard) SENSOR ACCESSORIES Replacement PNP Double Inductive Sensor* *** Quick Disconnect 2 Meter Cable (for KT15 Inductive Sensor)* ORDER # QTY/UNIT KT15 CABL-014 1 1 or 2 SEALED BOOT KITS PVC Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-376 Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-377 FireProof Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-378 1 SEAL REPAIR KIT Viton® Seal Repair Kit 1 PNEUMATIC HYDRAULIC SLKT-333V SLKT-334V *Sensor and cable sold separately ***Requires KT1 or KT2 Inductive Case Option INDUCTIVE CASE KT1 Sensing Range KT1 KT2 Sensing Range KT2 __ Leave Blank. No Inductive Option SAMPLE ORDER: RUA-142M-H-RE-KT1 Ex: RUA-142M Gripper, Hydraulic, Spring Closed, Sensing Range KT1 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 1 1 ANGULAR GRIPPER RUA-142M SPRING ASSISTED SERIES RUA-142M GRIP FORCE PER FINGER (at 0° with Spring Assist) N lbs. 7500 1686 1298 lbs. 5775 N 886 lbs. 3941 N 17.6° of stroke for each finger 9.05 lbs. 4.1 kg 30-100 psi 2-7 bar 60-100 psi 4-7 bar 4.13 in. 105 mm 13.2 in3. 215 cm3 5000 1124 290 PSI [ 20 bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 3750 843 100 PSI [7 bar] 2500 562 80 PSI [5.5 bar] 60 PSI [4.1 bar] 1250 281 -20°~300° F -30~150° C 0.60 sec./0.60 sec. ±0.003 in. ±0.8 mm ±0.0008 mm. ±0.03 mm 3-way, 2-position 4-way, 2-position 0 RUA SERIES 6250 1405 FINGER FORCE - F/2 Specifications Total Rated Grip Force L=1 in [25.4mm] @ 0° 100 psi, 7 bar, w/spring................................ 100 psi, 7 bar, w/o spring ............................ Stroke .............................................................. Weight .............................................................. Pressure Range (without springs) .................... Pressure Range (with springs) ......................... Cylinder Bore Ø ................................................ Displacement ................................................... Temperature Range Viton® Seals Standard .................................. Actuation (open/close)..................................... Accuracy........................................................... Repeatability..................................................... Valve required to actuate single acting ............ Valve required to actuate double acting........... 0 PSI [0 2.25 bar] 0 1 2 3 4 5 6 7 8 9 in. 25 51 76 102 127 152 178 203 228mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z X Y L T Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz F/2 F/2 C My Static Dynamic 142 lbs. [630 N] 142 lbs. [630 N] 460 in.-lbs. [52 Nm] 6160 in.-lbs. [696 Nm] 460 in.-lbs. [52 Nm] 28 lbs. [126 N] 28 lbs. [126 N] 115 in.-lbs. [13 Nm] 611 in.-lbs. [69 Nm] 115 in.-lbs. [13 Nm] Accessory Mounting Technical Data 1.15 29.2 1.067 27.1 Plumbing Fittings 0.49 12.4 PLUMBING FITTING PLFT-039 ADJUSTABLE FLOW CONTROL G1/4 VLVF-010 • Adjustable flow controls: – Have thumb screw adjust with locking nut for adjusting actuation time – Available for 6mm OD tubing • Plumbing fittings: • For side air port location • Top airport are plugged as standard 6.496 165 Adapter plate for cover set up 1.142 29 4.291 109 Clamping Crown Boot • Protects the gripper mechanism • Provides better performance and longer life time in harsh environment • Three materials available depending on the application: – PVC for grinding applications (up to 176°F / 80°C) – Kevlar for machine applications (up to 480°F / 250°C) – Fireproof Kevlar for welding applications (up to 525°F / 275°C) • A provided spacer has to be added to the jaws For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER RUA-162M SPRING ASSISTED SERIES 50.0 1.969 [8 m6] 2 x Ø 0.3150 SF 24.0 0.945 32.0 1.260 [11] 6 x Ø 0.433 30° 2 [G1/4 x 10 DP] [ 2 x M10 x 22 DP] 11.0 0.433 30° 30° 165.0 6.496 20° 28.0 1.102 30° 65.0 2.559 15° 31.5 1.240 Close 60 Close 2.26 [ 10 H9 x 22 DP] Ø 0.3937 SF x 0.866 [142.9] Ø 5.626 ° RUA SERIES 119.5 4.705 Purge port Open CL [26 f8] 1.0236 28.0 1.102 Open Purge / Scavenge port [ G1/8 x 8 ] [127.00 h7] Ø 5.0000 71.0 2.795 Manifold air port Supplied plugged 79.0 3.110 3.7 0.146 105.0 4.134 6.0 0.236 -KT: Inductive sensor Opened: 13° Sensing range (F rom close position) 185.0 7.283 Yellow LE D Green LE D KT1 0° to 2.4° 14.8° to 17.2° KT2 0° to 4.6° 12.6° to 17.2° Same attachment as gripper 170.5 6.713 15° Inductive sensor Closed: 4.3° Inductive sensor UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Separately) BASIC MODEL SPRING ASSIST RUA - 162M - - POWER P-Pneumatic H-Hydraulic (See Below) INTEGRATED SENSOR POWER P Pneumatic H Hydraulic (20 bar max.) SPRING RE Closed RI Open __ Leave Blank. No Spring Option (standard) SENSOR ACCESSORIES Replacement PNP Double Inductive Sensor* *** Quick Disconnect 2 Meter Cable (for KT15 Inductive Sensor)* ORDER # QTY/UNIT KT15 CABL-014 1 1 or 2 SEALED BOOT KITS PVC Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-379 Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-380 FireProof Kevlar Sealed Jaw Boot Kit (includes 2 interfaces, 1 collar, 1 boot) SLKT-381 1 SEAL REPAIR KIT Viton® Seal Repair Kit 1 PNEUMATIC HYDRAULIC SLKT-335V SLKT-336V *Sensor and cable sold separately ***Requires KT1 or KT2 Inductive Case Option INDUCTIVE CASE KT1 Sensing Range KT1 KT2 Sensing Range KT2 __ Leave Blank. No Inductive Option SAMPLE ORDER: RUA-162M-H-RI-KT2 Ex: RUA-162M Gripper, Hydraulic, Spring Open, Sensing Range KT2 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 1 1 ANGULAR GRIPPER RUA-162M SPRING ASSISTED SERIES RUA-162M GRIP FORCE PER FINGER (at 0° with Spring Assist) N lbs. 7500 1686 1234 lbs. 5490 N 853 lbs. 3790 N 17.2° of stroke for each finger 14.8 lbs. 6.7 kg 30-100 psi 2-7 bar 60-100 psi 4-7 bar 4.72 in. 120 mm 19.7 in3. 322 cm3 5000 1124 290 PSI [ 20 bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 3750 843 100 PSI [7 bar] 2500 562 80 PSI [5.5 bar] 60 PSI [4.1 bar] 1250 281 -20°~300° F -30~150° C 0.80 sec./0.80 sec. ±0.003 in. ±0.8 mm ±0.0008 mm. ±0.03 mm 3-way, 2-position 4-way, 2-position 0 RUA SERIES 6250 1405 FINGER FORCE - F/2 Specifications Total Rated Grip Force L=2 in [50.8mm] @ 0° 100 psi, 7 bar, w/spring................................ 100 psi, 7 bar, w/o spring ............................ Stroke .............................................................. Weight .............................................................. Pressure Range (without springs) .................... Pressure Range (with springs) ......................... Cylinder Bore Ø ................................................ Displacement ................................................... Temperature Range Viton® Seals Standard .................................. Actuation (open/close)..................................... Accuracy........................................................... Repeatability..................................................... Valve required to actuate single acting ............ Valve required to actuate double acting........... 0 PSI [0 2.27 bar] 0 2 3 4 5 6 7 8 9 10 11 in. 51 76 102 127 152 178 203 229 254 280mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z X Y L T Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz F/2 F/2 C My Static Dynamic 189 lbs. [840 N] 189 lbs. [840 N] 664 in.-lbs. [75 Nm] 9293 in.-lbs. [1050 Nm] 664 in.-lbs. [75 Nm] 38 lbs. [168 N] 38 lbs. [168 N] 166 in.-lbs. [18.8 Nm] 885 in.-lbs. [100 Nm] 166 in.-lbs. [18.8 Nm] Accessory Mounting Technical Data 1.15 29.2 1.067 27.1 Plumbing Fittings 0.49 12.4 PLUMBING FITTING PLFT-039 ADJUSTABLE FLOW CONTROL G1/4 VLVF-010 Adapter plate for cover set up • Adjustable flow controls: – Have thumb screw adjust with locking nut for adjusting actuation time – Available for 6mm OD tubing • Plumbing fittings: • For side air port location • Top airport are plugged as standard 7.48 190 1.339 34 4.783 121.5 Clamping Crown Boot • Protects the gripper mechanism • Provides better performance and longer life time in harsh environment • Three materials available depending on the application: – PVC for grinding applications (up to 176°F / 80°C) – Kevlar for machine applications (up to 480°F / 250°C) – Fireproof Kevlar for welding applications (up to 525°F / 275°C) • A provided spacer has to be added to the jaws For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RUA/DUA Series Exploded View RUA/DUA SERIES MAINTENANCE Item Qty Name 64 63 8 2.28 57 6 9 1 3 65 56 2 62 61 4 52 93 90 100 1 94 91 99 96 98 95 102 101 97 -KT Option Thread Locker Krytox™ Lubricant Body Piston Cam Driver Cap Jaw Shielded case Pivot Pin SS Screw, Cap SHC Screw, Cap Magnet SS Screw, Body SHC Screw, Piston Nut, Piston Pin, Jaw Screw, Shielded case Springs KT Body KT Body, O-Ring KT Sensor KT Body, Screw Target Target, Screw KT Body, O-Ring KT Body, Screw Wire Holder KT Body, Screw Cap for KT Shaft Shaft KT Body, Pin Assembly Procedure 1) Lubricate and install the seals onto the cap (x3), the piston (x2) and the body (x1). 2) If top airports are used, remove the plug screws from the cap (#4) and insert into side airports of the body (#1). 3) Assemble the piston (#2) and the cam driver (#3) with the washer and the screw. - RE option : Place the counterbore holes of the piston on the cam driver side. - RI option : Place the counterbore holes of the piston on the screw side. 4) Insert the piston into the body. Orientate the piston so that the magnets are placed in front of the body slots. - RE option : insert the springs (#65) between the body and the piston in the counterbore holes. 5) Place and screw the cap onto the body. The dowel holes of the cap and of the body have to be aligned. - RI option : insert the springs (#65) between the cap and the piston in the counterbore holes. 6) Lubricate the slots and the jaws (#6) and the groove of the cam driver. 7) Place the jaws into the body slot and insert the pivot pin aligning with the jaw hole. The flat of the pivot pin has put in front of the rear side of the body. Screw SS screw into the body to prevent the pivot pin from moving. 8) Attach the shielded case. SK Seal Kit Items 1 1 1 1 2 1 2 2 4 1 2 1 1 4 2 1 1 1 1 1 1 1 2 1 1 3 1 1 1 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 53 92 01 02 03 04 06 08 09 52 53 56 57 61 62 63 64 65 90 91 92 93 94 95 96 97 98 99 100 101 102 Lightweight Machine Oil Seal Repair Kit Order #’s See Product Data Sheets Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Item 01 02 03 04 06 08 09 52 53 56 57 61 62 63 64 65 8 6 9 1 65 4 Name Body Piston Cam Driver Cap Jaw Shielded case Pivot Pin SS Screw, Cap SHC Screw, Cap Magnet SS Screw, Body SHC Screw, Piston Nut, Piston Pin, Jaw Screw, Shielded case Springs NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 2 3 Qty 1 1 1 1 2 1 2 2 4 1 2 1 1 4 2 1 Accessory Installation & Adjustment Instructions Installation - MR Sensors 1) Insert sensors (#90) for either end of the profile slots 2) Set the sensors with the integrated screw Installation - Boot 1) Mount the gripper onto the customer mounting plate 2) Insert the spacer (#81) into the pins of the jaws 3) Insert sensor slot plugs (#82) into sensor mounting groove. Install the boot (#80) on the gripper. The jaw opening of the boot has to fit with the spacer. Insert lip of boot seal into the groove of the gripper 4) Use the clamping ring (#83) to fasten the boot on the gripper 5) Attach fingers to the jaws (ensure that boot is sealed between the jaws and the finger) 90 80 81 82 83 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RUA/DUA SERIES MAINTENANCE RUA/DUA Series Assembled View 2.29 RA SERIES Angular GrippersToggle Locking Series • High gripping force: This style gripper uses the mechanical advantage of a toggle mechanism that creates a very high gripping force at the completion of stroke. • Fail safe locking: At the full closed position the gripper locks in such a way that it cannot unlock unless air pressure is supplied to open the gripper. If air pressure is lost catastrophically, the gripper will not release the part that is being held. 2.30 Technical Specifications: Mounting Information: Grippers can be mounted & operated in any orientation Pneumatic Specifications Imperial Metric Pressure Operating Range 40-100 psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, 2-position Air Quality Requirements Air Filtration Air Lubrication Air Humidity Warning! Protect drive and bearing mechanism from falling debris when mounted upside down Body mounts with screws and locates with slip fit dowel pins for accuracy G 40 Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (standard) -30°~180° F Viton® Seals (optional) -20°~300° F Maintenance Specifications† Expected Life Normal Application w/ Preventative Maintenance Field Repairable Seal Repair Kits Available -35°~80° C -30°~150° C 5 million cycles 10+ million cycles* Yes Yes *Addition of lubrication will greatly increase service life † See Maintenance Section Fingers attach to jaws with screws and locate by keying For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Style-RA Angular Gripper RA-15 RA-15M Size -15M Style: Stroke: 6° each finger Product Features Quality Components The body has hard-coat anodize 60 RC with Teflon® impregnation Dynamic components are hardened for wear resistance and long life Slip Fit Dowel Holes Grip Force: 70 lbs. Weight: .31 lbs. 311 N .14 Kg Bodies have slip fit dowel holes for accurate location of unit to mounting surface RA SERIES Hard Coat Anodize Self-Lubricating Seals Self lubricating dynamic seals (Buna-N only) See Page 2.32 Style-RA Angular Gripper RA-25 RA-25M Size -25M Style: Stroke: 6° each finger Grip Force: 250 lbs. Weight: 1.1 lbs. Accessory Mounting Holes Quality Manufacturing (Mounts sensors to unit) Components are precision ground for minimal jaw play Optional Inductive Sensors & Flow Controls 1112 N .48 Kg (sold separately) See Page Operating Principle T-Bar Body Link 2.33 Style-RA Angular Gripper RA-90 RA-90M Size -90M Style: Stroke: 90° each finger Grip Force: Weight: 80 lb .44 lb 356 N .20 Kg See Page 2.36 Piston Shaft Piston Jaw Pivot Pin Cap Pressure Exhaust Exhaust Pressure Open Position Closed Position • A double acting piston is connected by a shaft to a “T”-bar. • The “T”-bar is connected to a set of linkages which are attached to the jaws. The jaws pivot about a pivot pin converting the linear motion of the “T”-bar into synchronous angular motion of the jaws. • This gripper is suitable for internal gripping without locking or external gripping with locking. Designed and manufactured in the USA For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 2.31 ANGULAR GRIPPER RA-15M TOGGLE LOCKING SERIES 2X #8-32 X .25DP [M4 X 6 DP] Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ........................................ Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation .................................................. Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 2X Ø .2500 X .24DP [Ø 6 H7 X 6 DP] RA SERIES CL .7000 [17.78] CL .750 [19.0] 1.000 [25.4] .9060 [23.01] 2.32 1.250 [31.8] RA-15 RA-15M 70 lbs. 311 N 6° of stroke for each finger 0.31 lbs. 0.14 Kg 40-100 psi 3-7 bar .750 in. 19.1 mm 0.110 in3. 1.8 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.10 sec. 0.10 sec. ±0.003 in. ±0.08 mm ±0.001 in. ±0.03 mm 4-way, 2-position 1.750 [44.5] 1.312 [33.3] .38 [10] 2X #10-32 [M5] AIR PORTS (OPEN) CL CL .89 [23] 1.905 [48.4] .46 [12] 2.468 [62.7] 4X #8-32 [M4] THRU 1.406 [35.7] CLOSE 1.00 [25] .375 [9.5] 8X .01 CHAMFER 5˚ .312 ±.001 [7.92 ±0.03] .312 ±.001 [7.92 ±0.03] 1˚ UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW JAW SHOWN PARALLEL JAW WILL CLOSE 1˚ PAST PARALLEL Dimensions are symmetrical about centerline Loading Information 100 PSI [7 158 35 134 30 Third Angle Projection bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] BASIC MODEL METRIC RA-15 M - V 80 PSI [5.5 ba r] 112 25 All Dowel Holes are SF (Slip Fit). Metric Threads Locational Tolerance Course Pitch ±.0005" or [±.013mm] How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 178 40 FINGER FORCE - F/2 1.531 [38.9] 60 PSI [4.1 ba r] 89 20 40 PSI [2.7 bar] 67 15 VITON® SEALS 45 10 22 5 .5 1 1.5 13 25 38 EFFECTIVE FINGER LENGTH - L 0 0 0 0 2 in. 50mm Z MZ Z Y X C QTY/UNIT 1 1 or 2 1 or 2 1 or 2 1 or 2 SLKT-019 SLKT-019V 1 1 T F/2 F/2 MY MX Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz ORDER # OSMK-018 OISN-013 OISP-013 CABL-010 CABL-013 *Sensor and cable sold separately L Loading Capacity† SENSOR ACCESSORIES* Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) 3mm NPN Inductive Sensor with Quick Disconnect* 3mm PNP Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* PNEUMATIC ACCESSORIES Standard Seal Repair Kit Viton® Seal Repair Kit Static Imperial Metric Dynamic Imperial Metric 50 lbs. 222 N 20 lbs. 50 lbs. 222 N 20 lbs. 60 in.-lbs. 6.8 Nm 20 in.-lbs. 120 in.-lbs. 13.6 Nm 40 in.-lbs. 60 in.-lbs. 6.8 Nm 20 in.-lbs. 89 N 89 N 2.3 Nm 4.5 Nm 2.3 Nm INDUCTIVE SENSORS AND MOUNTING KIT .67 [17] .27 [7] † Capacities are per set of jaws and are not simultaneous For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ........................................ Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 2.500 [63.5] CL 1.0625 [26.99] CL 1.750 [44.5] 2X 1/4-20 X .31 DP [M6 X 7 DP] 2X Ø .3125 SF X .18 DP [Ø 8 H7 X 4 DP] 1.0000 [25.40] 2.000 [50.8] RA-25 RA-25M 250 lbs. 1112 N 6° of stroke for each finger 1.06 lbs. 0.48 Kg 40-100 psi 3-7 bar 1.250 in. 31.8 mm 0.046 in3. 0.8 cm3 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.12 sec. 0.12 sec. ±0.003 in. ±0.08 mm ±0.001 in. ±0.03 mm 4-way, 2-position 1.875 [47.6] .38 [10] CL CL 2X #10-32 [M5] AIR PORTS (OPEN) 1.891 [48.0] 3.078 [78.2] 2.438 [61.9] 3.641 [92.5] .58 [15] .30 [8] 4X #10-32 [M5] THRU .375 [9.5] CLOSE 1.50 [38] .375 ±.001 [9.53 ±0.03] .375 [9.5] 1˚ 5˚ JAW SHOWN PARALLEL JAW WILL CLOSE 1˚ PAST PARALLEL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Loading Information All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 623 140 534 120 FINGER FORCE - F/2 Third Angle Projection 100 445 100 PSI [7 80 PS I [5.5 bar] 60 PSI [4.1 ba r] 356 80 267 60 BASIC MODEL METRIC WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS bar] RA-25 M - V 40 PSI [2.7 bar] 178 40 VITON® SEALS 89 20 0 0 0 0 1 2 3 25 50 76 EFFECTIVE FINGER LENGTH - L 4 in. 102mm Z MZ Z Y SENSOR ACCESSORIES* Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) 3mm NPN Inductive Sensor with Quick Disconnect* 3mm PNP Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* PNEUMATIC ACCESSORIES Standard Seal Repair Kit ® X Viton Seal Repair Kit ORDER # QTY/UNIT OSMK-019 OISN-014 OISP-014 CABL-010 CABL-013 1 1 or 2 1 or 2 1 or 2 1 or 2 SLKT-020 SLKT-020V 1 1 *Sensor and cable sold separately L C T F/2 F/2 MY MX Loading Capacity† Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric Dynamic Imperial Metric 150 lbs. 667 N 50 lbs. 150 lbs. 667 N 50 lbs. 200 in.-lbs. 22.6 Nm 60 in.-lbs. 300 in.-lbs. 33.9 Nm 75 in.-lbs. 200 in.-lbs. 22.6 Nm 60 in.-lbs. 222 N 222 N 6.8 Nm 8.5 Nm 6.8 Nm .12 [3] INDUCTIVE SENSORS AND MOUNTING KIT .55 [14] .31 [8] 1.43 [36] † Capacities are per set of jaws and are not simultaneous For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA SERIES ANGULAR GRIPPER RA-25M TOGGLE LOCKING SERIES 2.33 RA-15 & 25 Series Exploded View Item Qty RA-15 & 25 SERIES MAINTENANCE 04 05 06 07 08 09 18 20 21 30 31 2.34 1 1 1 2 1 1 1 4 4 2 2 Name Shaft Cross Bar Piston Jaw Body Cap Plug Pin Link Dowel Pin Dowel Pin NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure 1) Lubricate and install seals. 2) Install piston and shaft into body. 3) Install jaws. 4) Press dowel pins through fingers from air port side. 5) Install links and cross bar. 6) Install cap on body. 7) Install plug and retaining ring. 9 SK 20 Seal Repair Kit Order #’s See Product Data Sheets 21 5 SK 8 7 30 31 6 4 SK 18 SK Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com RA-15 & 25 Series Assembled View Item Qty 9 6 1 1 1 2 1 1 1 4 4 2 2 Shaft Cross Bar Piston Jaw Body Cap Plug Pin Link Dowel Pin Dowel Pin RA-15 & 25 SERIES MAINTENANCE 04 05 06 07 08 09 18 20 21 30 31 20 5 Name 2.35 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 4 30 7 8 18 Accessory Installation & Adjustment Instructions 1) Install sensors as shown. 2) Adjust for open/closed stroke sensors. 2 22 21 23 Seal Kit Items Thread Locker Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER RA-90M TOGGLE LOCKING SERIES Specifications Total Rated Grip Force F @ 100 psi, 7 bar Stroke........................................................ Stroke Adjustment..................................... Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ........................................ Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals............................................ Actuation Time*......................................... Accuracy†................................................... Repeatability†............................................. Valve required to actuate .......................... DO NOT OPERATE WITHOUT FLOW CONTROLS RA SERIES 1.535 [39.0] 1.142 [29.0] CL X #10-32 X .32DP [M5 X 8DP] CL 2.36 .708 [18.0] Ø.790 1.102 [28.0] [ +.001 .000 Ø20.07 +0.03 0.00 ] x .04 [1]DP ALTERNATE #10-32 [M5] AIR PORT (OPEN) (NORMALLY PLUGGED) 1.142 [29.0] 4X #10-32 X .32DP [M5 X 8DP] .25 [6] CL -30°~180° F -34°~82° C -20°~300° F -29°~149° C 0.16 sec. 0.16 sec. ±0.0030 in. ±0.08 mm ±0.0010 in. ±0.03 mm 4-way, 2-position .37 [9] #10-32 [M5] AIR PORT (OPEN) .42 [11] RA-90 RA-90M 80 lb 356 N 90° of stroke for each finger 45° of stroke for each finger 0.438 lb 0.20 Kg 40-100 psi 2.8-7 bar 0.782 in. 19.9 mm 3 0.460 in . 7.5 cm3 CL HALL EFFECT SENSOR SLOTS CL .25 [6] .925 .728 [23.5] [18.5] 1.825 2.250 [46.4] 2.650 [57.2] [67.3] .69 [17] .69 [17] 1.53 [39] #10-32 [M5] AIR PORT (CLOSE) ALTERNATE #10-32 [M5] AIR PORT (CLOSE) (NORMALLY PLUGGED) #4-40 X .19DP [M3 X 4DP] (SENSOR MNTG HOLE) .315 [8.0] .328 [8.3] 90° .77 [20] STROKE 4X #8-32 [M4] THRU .158 [4.0] .315 +.001 .000 [ 8.00 +0.03 0.00 ] STROKE ADJUSTMENT 1.181 [30.0] JAW WILL CLOSE 1˚ PAST PARALLEL UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Loading Information WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS FINGER FORCE - F/2 100 P SI [7 b ar] I [5.5 bar] 80 PS 158 35 60 PSI [4.1 ba r] 40 PSI [2.7 ba r] 134 30 112 25 89 20 67 15 45 10 22 5 0 0 0 0 .5 1 1.5 13 25 38 EFFECTIVE FINGER LENGTH - L Z 2 in. 50mm MZ Z Y L C T F/2 Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz † Static Imperial Metric Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] RA-90 M - V SENSOR ACCESSORIES* Sensor Mounting Kit for Imperial & Metric Units (mounts 2 sensors) 3mm NPN Inductive Sensor with Quick Disconnect* 3mm PNP Inductive Sensor with Quick Disconnect* Magneto Resistive Sensor PNP Straight with Quick Disconnect* Magneto Resistive Sensor NPN Straight with Quick Disconnect* Magneto Resistive Sensor PNP 90-degree with Quick Disconnect* Magneto Resistive Sensor NPN 90-degree with Quick Disconnect* Straight Quick Disconnect Cable (2 meters length) Straight Quick Disconnect Cable (5 meters length) PNEUMATIC ACCESSORIES #10-32 TO 1/4" OD Tube X M5 TO 6MM OD Tube Standard Seal Repair Kit Viton® Seal Repair Kit ORDER # QTY/UNIT OSMK-003 OISN-013 OISP-013 OHSP-008 OHSN-008 OHSP-011 OHSN-011 CABL-010 CABL-013 1 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-007 VLVF-008 SLKT-024 SLKT-024V 2 2 1 1 *Sensor and cable sold separately For Detailed Accessory Mounting Technical Data Refer to Accessories Section Dynamic Imperial Metric 50 lbs. 222 N 20 lbs. 50 lbs. 222 N 20 lbs. 60 in.-lbs. 6.8 Nm 20 in.-lbs. 120 in.-lbs. 13.6 Nm 40 in.-lbs. 60 in.-lbs. 6.8 Nm 20 in.-lbs. Capacities are per set of jaws and are not simultaneous Metric Threads Course Pitch BASIC MODEL METRIC VITON® SEALS F/2 MY MX Loading Capacity† All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] How to Order: (Order Accessories separately from Basic Model) GRIP FORCE PER FINGER N lbs. 178 40 Third Angle Projection 89 N 89 N 2.3 Nm 4.5 Nm 2.3 Nm .11 [3] .20 [5] INDUCTIVE SENSORS AND MOUNTING KIT .24 [6] BRACKET ADJUSTABILITY .06 [1] .46 [12] HALL EFFECT SENSORS For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DESIGN NOTES QUALITY PRECISION DURABILITY RA SERIES PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY 2.37 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT/CT SERIES Angular Grippers180° Series 2.38 • 180° angular gripper: The full jaw opening (180°) means that the part can be direct fed, avoiding any release movement by the robot or by the actuator. • Multiple mounting locations: DIRECTCONNECT™ mounting on back of body (sizes 12-25). Standard mounting on top. • Compact gripper: This gripper is designed for use in confined spaces. • Multipurpose gripper: Several accessories (adjustable stop, magneto resistive or inductive sensors*) allow this gripper to be used in a number of applications. • Harsh environments: Shielded design repels chips and other particulate from internal drive mechanism. * Inductive sensors not available on CT-12 Technical Specifications: Mounting Information: Grippers can be mounted & operated in any orientation Gripper is located from the top with 2 dowel pins and assembled with 2 screws. DIRECTCONNECT mounting pattern: Gripper is located with 2 dowel pins and assembled with 4 screws. Alternative pattern: Gripper is located with 2 dowel pins and assembled with 2 screws. Pneumatic Specifications Imperial Metric Pressure Operating Range 40-100 psi 3-7 bar Cylinder Type Double Acting Dynamic Seals Internally Lubricated Buna-N Valve Required to Operate 4-way, 2-position Air Quality Requirements Air Filtration Air Lubrication Air Humidity 40 Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (Standard) -30°~180° F Viton® Seals (Optional) -20°~300° F G Fingers are centered over the jaws, located with 1 dowel pin and assembled with 2 screws. The gripper is protected from falling debris when it is mounted and operated upside down. Maintenance Specifications† Expected Life Normal Application w/ Preventative Maintenance Field Repairable Seal Repair Kits Available -35°~80° C -30°~150° C 5 million cycles 10+ million cycles* Yes Yes *Addition of lubrication will greatly increase service life † See Maintenance Section Gripper can be operated utilizing top manifold air ports. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Style-DCT Angular Gripper DCT-12M Size -12M Style: Stroke: 90° each finger Gripper Attachment Adjustable Stop Gripper mounting from side or bottom Accessory (BR) in order to adjust the opening of jaws, between 0° to 180° Grip Force: 7.2 lbs Weight: 0.20 lbs Viton Seals Viton seals for high temperatures (-20°F to +300°F) are optional Shielded Plate and Wiper Covers Gripper body is shielded to repel chips and other particulate from internal drive mechanism Quality Components Made from aluminum alloy anodized with Teflon™ impregnation. The gripper's main components are made of heat treated steel. See Page Grip Force: Weight: 16 lbs 0.35 lbs 70 N 0.16 Kg See Page 2.41 ™ Inductive Sensor Mounting Kit Accessory (SD) in order to sense jaw position. Comes with 2 holders for tubular sensors and 2 adjustable flags (except size -12). Multiple Air Ports Side or top air ports (top ports require O-ring) Magneto Resistive Sensor Mounting Kit Standard mounting slots for magneto resistive sensors. (sensors sold separately) Style-DCT Angular Gripper DCT-20M Size -20M Style: Stroke: 90° each finger Grip Force: Weight: 25 lbs 0.62 lbs 112 N 0.28 Kg See Page 2.42 Style-DCT Angular Gripper DCT-25M Size -25M Style: Stroke: 90° each finger Operating Principle Drive Pin 2.40 Style-DCT Angular Gripper DCT-16M Size -16M Style: Stroke: 90° each finger Mounting Patterns DIRECTCONNECT mounting surface on back of body (sizes 12-25) 32 N 0.09 Kg Grip Force: Weight: 35 lbs 1.08 lbs 157 N 0.49 Kg See Page 2.43 Shielded Plate Drive Pin Slot Jaw Pivot Pin Driver Wiper Cover Style-CT Angular Gripper CT-32M Size -32M Style: Stroke: 90° each finger Grip Force: Weight: Body See Page Piston Magnet Cap 61 lbs 1.59 lbs 100 lbs 2.60 lbs See Page Pressure Pressure Exhaust • A double acting piston, with a ring magnet for magneto resistive sensing, is connected to a fork driver on which 2 drive pins are fixed. • Jaw rotation is synchronized with the drive pin-jaw assembly. • Sliding in these slots, drive pins convert vertical motion of the piston into rotating opposite synchronous motion of both jaws. • Each jaw has a useful rotation stroke of 90°, between the 90° open position and the 0° gripping position, plus a gripping over-stroke of approximately 1.5° before reaching the fully gripped position. Jaws have to be designed for a 0° gripping position (parallel jaws) 2.44 Style-CT Angular Gripper CT-40M Size -40M Style: Stroke: 90° each finger Grip Force: Weight: Exhaust 272 N 0.72 Kg 446 N 1.18 Kg 2.45 Style-CT Angular Gripper CT-50M Size -50M Style: Stroke: 90° each finger Grip Force: Weight: 146 lbs 4.00 lbs See Page 651 m 1.82 Kg 2.46 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT/CT SERIES Product Features 2.39 ANGULAR GRIPPER DCT-12M 180° SERIES [6.00 g6] 18 0.71 -0.0002 10 0.39 36.5 1.437 0.2362 -0.0005 Jaws in gripping position at 0° DCT SERIES 2 x [M3] THRU 90° 1.6 0.063 90° Shielded plate CL [ 6.0 0.236 2.5E7] THRU 25 0.98 64 2.52 2x[ 2.40 56.00 2.2047 2.5H9 x 4.5 DP] 4 x [M3 x 7 DP] 48 1.89 35.5 1.398 9.5 0.375 16.5 0.650 2x[ 14.50 0.5709 CL 3H7 x 6 DP] 12.50 0.4921 2 x [M3 x 7 DP] 8 0.31 CL Side air port [M5 x 6 DP] CLOSE 2 Slots to mount magnetic sensors DCT-12M 9 0.35 Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 7.2 lbs. 32 N 90° of stroke for each finger 0.20 lbs. 0.09 Kg 40-100 psi 3-7 Bar 0.472 in. 12 mm 0.117 in3. 1.92 cm3 3 0.12 5 0.2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.06 sec. 0.06 sec. ±0.0028 in. ±0.07 mm ±0.002 in. ±0.05 mm 4-way, 2-position 30 1.18 Top air port [M3 x 5.5 DP] OPEN (supplied plugged) Gripper's top air port 20.00 0.7874 24.50 0.9646 2x[ 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1 in. [25mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... CL 19.05 0.7500 Side air port [M5 x 6 DP] OPEN 24.50 0.9646 20 0.79 O-Ring [ 1 x 3] 2 x [M3 x 7 DP] 9 0.35 2.5H9 x 4.5 DP] 14.50 CL 0.5709 9 0.35 CL Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) 8.6 0.339 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] FINGER FORCE - F/2 Loading Information N 16 lbs. 4 12 3 8 2 4 1 0 0 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. How to Order: (Order Accessories separately from Basic Model) BASIC MODEL GRIP FORCE PER FINGER @ 0° 100 PSI [ 7 ba r] 80 PS I [5.5 bar] 60 PSI [4.1 ba r] 40 PSI [2.7 bar] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS DCT - 12M - V NOTE: DCT-12 can be used as an exact replacement for CT-12 VITON® SEALS SIZE SENSOR ACCESSORIES* PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 2.0 1 1.5 2.5 in. 50 25 35 65mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L OHSP-006 OHSN-006 OHSP-008 OHSN-008 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-159 SLKT-159V 1 or 2 1 1 BR-CT-12 1 PNEUMATIC ACCESSORIES Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Z Z Mz MOUNTING ACCESSORIES L C T Y F/2 F/2 My Mx X Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.31 [8] M4 Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mx Static Imperial Metric 11 lbs. 11 lbs. 10 in.-lbs. 10 in.-lbs. 10 in.-lbs. 47 N 47 N 1.1 Nm 1.1 Nm 1.1 Nm 0.20 [5] Dynamic Imperial Metric 2 lbs. 2 lbs. 3 in.-lbs. 3 in.-lbs. 3 in.-lbs. 9.4 N 9.4 N 0.3 Nm 0.3 Nm 0.3 Nm 0.59 [15] MAX. ADJUSTABLE STOP KIT (BR) For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-16M 180° SERIES 20 0.79 Jaws in gripping position at 0° - 0.0002 0.3150 - 0.0006 Shielded plate 2 0.08 ° 90 90 ° 8.0 0.315 [8g6] 10 0.39 2 x [M3] THRU CL [ 2.5E7] THRU 26.5 1.043 2x[ 3H9 x 5.5 DP] 4 x [M3 x 7 DP] 64.00 2.5197 9 0.35 41.5 1.634 2x[ 72 2.83 3H7 x 6 DP] 56 2.20 20.5 0.807 9.5 0.375 23.5 0.925 CL CL 14.00 0.5512 8 0.31 CL Side air port [M5 x 6 DP] CLOSE 2 Slots to mount magnetic sensors 10 0.39 CL DCT-16M 29.00 1.1417 Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 16 lbs. 70 N 90° of stroke for each finger 0.35 lbs. 0.16 Kg 40-100 psi 3-7 Bar 0.630 in. 16 mm 3 0.251 in . 4.12 cm3 2x[ 29.00 1.1417 11.5 0.453 3H9 x 6 DP] 0.8 0.03 3 0.12 5 0.2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.13 sec. 0.13 sec. ±0.0028 in. ±0.07 mm ±0.002 in. ±0.05 mm. 4-way, 2-position 36 1.42 Top air port [M3 x 5.5 DP] OPEN (supplied plugged) Gripper's top air port 20.00 0.7874 19.05 0.7500 Side air port [M5 x 6 DP] OPEN 17 0.67 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1 in. [25mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 2.41 18.00 0.7087 2 x [M4 x 9 DP] 4 x [M3 x 5.5 DP] DCT SERIES 40.5 1.594 25 0.98 O-Ring [ 1 x 3] 2 x [M4 x 9 DP] 10 0.39 CL 18.00 0.7087 CL Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) 9 0.35 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information FINGER FORCE - F/2 N 40 30 lbs. 9 How to Order: (Order Accessories separately from Basic Model) 4 10 2 0 0 BASIC MODEL GRIP FORCE PER FINGER @ 0° DCT - 16M - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 7 20 NOTE: DCT-16 can be used as an exact replacement for CT-16 PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) 4mm PNP Inductive Sensor with Quick Disconnect* 4mm NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 1 1.25 1.5 1.75 2.0 2.25 2.5 2.75 in. 51 25 32 38 44 57 64 70mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Z Z C T Y F/2 My Mx Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric F/2 Dynamic Imperial Metric Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit X 90 N 90 N 2.9 Nm 2.9 Nm 2.9 Nm 4 lbs. 4 lbs. 6 in.-lbs. 6 in.-lbs. 6 in.-lbs. 18 N 18 N 0.7 Nm 0.7 Nm 0.7 Nm 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-160 SLKT-160V 1 or 2 1 1 BR-CT-16 1 1 or 2 1 or 2 1 or 2 1 or 2 MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.39 [10] 0.24 [6] M5 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.31 [8] 20 lbs. 20 lbs. 26 in.-lbs. 26 in.-lbs. 26 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-16 OISP-014 OISN-014 CABL-010 CABL-013 PNEUMATIC ACCESSORIES Mz L VITON® SEALS SIZE SENSOR ACCESSORIES* 100 PSI 80 PS [7 bar] I [5.5 bar] 60 PSI [4.1 ba r] 40 PSI [2.7 bar] Loading Capacity NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. 0.16 [4] 1.79 [45.5] 0.59 [15] 0.79 [20] MAX. ADJUSTABLE STOP KIT (BR) 0.24 [6] 0.46 [11.7] 0.81 [20.5] 0.48 [12.3] 0.22 [5.5] Sensors Ø 0.16 [4] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-20M 180° SERIES 22 0.87 [10g6] ° 90 2.6 0.102 Shielded plate [ 3E7] THRU 33 1.30 4H9 x 8 DP] 2x[ 79.00 3.1102 9 0.35 89 3.50 4 x [M3 x 6 DP] 68 2.68 51.5 2.028 Jaws in gripping position at 0° 2 x [M4] THRU CL 2.42 10.0 0.394 - 0.0002 0.3937 -0.0006 12 0.47 90 ° DCT SERIES 49.5 1.949 21.50 0.8465 24.5 0.965 9.5 C 0.375 L 29 1.14 4 x [M5 x 6 DP] 2x[ CL 2 Slots to mount magnetic sensors 4 x [M3 x 5.5 DP] Side air port [M5 x 6 DP] CLOSE CL 8 0.31 11 0.43 Side air port [M5 x 6 DP] OPEN 22 0.87 CL Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. DCT-20M 25 lbs. 112 N 90° of stroke for each finger 0.62 lbs. 0.28 Kg 40-100 psi 3-7 Bar 0.787 in. 20 mm 0.483 in3. 7.92 cm3 3 0.12 5 0.2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.16 sec. 0.16 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm 4-way, 2-position 33.50 1.3189 42 1.65 Top air port [M3 x 5.5 DP] OPEN (supplied plugged) Gripper's top air port 22.00 0.8661 19.05 0.7500 2x[ 33.50 1.3189 13.5 0.531 4H9 x 8 DP] 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.25 in. [32mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 18.00 0.7087 3H7 x 6 DP] 30 1.18 O-Ring [ 1 x 3] 2 x [ M5 x 11 DP] 11 0.43 21.50 0.8465 CL CL Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) 10 0.39 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information N lbs. 60 13 How to Order: (Order Accessories separately from Basic Model) FINGER FORCE - F/2 9 30 7 20 4 10 2 0 0 BASIC MODEL GRIP FORCE PER FINGER @ 0° 50 11 40 100 PSI [7 b 80 P a SI [5 r] .5 ba r] 60 PS I [4.1 bar] 40 PSI [2.7 bar] DCT - 20M - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS NOTE: DCT-20 can be used as an exact replacement for CT-20 PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) 4mm PNP Inductive Sensor with Quick Disconnect* 4mm NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Mz L C T Y F/2 Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 34 lbs. 34 lbs. 53 in.-lbs. 53 in.-lbs. 53 in.-lbs. F/2 My Mx 150 N 150 N 6 Nm 6 Nm 6 Nm Dynamic Imperial Metric 7 lbs. 7 lbs. 13 in.-lbs. 13 in.-lbs. 13 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-20 OISP-014 OISN-014 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-161 SLKT-161V 1 or 2 1 1 BR-CT-20 1 PNEUMATIC ACCESSORIES Z Z VITON® SEALS SIZE SENSOR ACCESSORIES* 1.25 1.75 2.25 2.75 3.25 in. 32 44 57 70 83mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Loading Capacity NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. 30 N 30 N 1.5 Nm 1.5 Nm 1.5 Nm X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.47 [12] 0.31 [8] M6 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.31 [8] 0.14 [3.5] 2.20 [56] 0.59 [15] 0.98 [25] MAX. ADJUSTABLE STOP KIT (BR) 0.24 [6] 0.46 [11.7] 1.02 [26] 0.48 [12.3] 0.48 [8] Sensors Ø 0.16 [4] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-25M 180° SERIES 26 1.02 [12 g6] 15 0.59 90 ° 90 0.4724 - 0.0002 - 0.0007 2 x [M5] 3.3 0.130 ° 39.5 1.555 93.50 3.6811 2.43 19.1 0.750 28.5 1.122 39.5 1.555 CL 11 0.43 [M5 x 6 DP] CLOSE 30.00 1.1811 10 0.39 CL 2 Slots to mount magnetic sensors CL 5H7 x 10 DP] 2x[ 4 x [M3 x 7 DP] 106 4.17 4 x [M5 x 11 DP] 81 3.19 61 2.40 7.5 0.295 Jaws in gripping position at 0° Shielded plate [ 4E7] 0.1575 SF CL 12 0.47 DCT SERIES 59 2.32 CL [M5 x 6 DP] OPEN 38.10 1.5000 (Dowels) 26.5 1.043 Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. Gripper's top air port DCT-25M 35 lbs. 157 N 90° of stroke for each finger 1.08 lbs. 0.49 Kg 40-100 psi 3-7 Bar 0.984 in. 25 mm 14.9 cm3 0.909 in3. 50 1.97 [M5 x 6 DP] OPEN (supplied plugged) 40.00 1.5748 [ 5H9] 2 x 0.1969 SF x 0.39 [10] DP 17.5 0.689 2 x [M6 x 13 DP] 1.2 0.05 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.75 in. [44mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 4 0.16 8 0.31 O-Ring [ 1.5 x -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.21 sec. 0.21 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm. 4-way, 2-position 36 1.42 11 0.43 CL 26.00 1.0236 5] CL [M5 x 6 DP] CLOSE (supplied plugged) 12 0.47 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information FINGER FORCE - F/2 N lbs. 80 18 60 13 40 9 20 4 0 0 How to Order: (Order Accessories separately from Basic Model) BASIC MODEL GRIP FORCE PER FINGER @ 0° 100 DCT - 25M - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS PSI [ 7 ba r I [5.5 ] bar] 60 PSI [4 .1 bar] 40 PSI [2.7 ba r] PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 1.75 2.25 2.75 3.25 3.75 4.25 in. 44 57 70 81 95 108mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Mz C T Y F/2 Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 46 lbs. 46 lbs. 89 in.-lbs. 89 in.-lbs. 89 in.-lbs. F/2 My Mx 205 N 205 N 10 Nm 10 Nm 10 Nm Dynamic Imperial Metric 9 lbs. 9 lbs. 22 in.-lbs. 22 in.-lbs. 22 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-25 OISP-011 OISN-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-162 SLKT-162V 1 or 2 1 1 BR-CT-25 1 PNEUMATIC ACCESSORIES Z Z VITON® SEALS SIZE SENSOR ACCESSORIES* 80 PS L NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. 41 N 41 N 2.5 Nm 2.5 Nm 2.5 Nm M5 Adjustable Flow Control Buna-N Seal Repair Kit Viton® Seal Repair Kit X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.55 [14] 0.39 [10] M6 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.43 [11] 0.18 [4.5] 2.62 [66.5] 0.63 [16] 1.18 [30] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.63 [16] 1.38 [35.2] 0.79 [20] 0.37 [9.5] Sensors Ø 0.31 [8] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-32M 180° SERIES 14 - 0.006 - 0.017 - 0.0002 - 0.0007 28 1.10 0.5512 67 2.64 17 = 0.67 = 2 x M6 DCT SERIES Shielded plate 3.9 0.15 90° 90° +0.032 5 +0.020 +0.0013 14 0.551 Jaws in gripping position at 0° 0.1969 +0.0008 45 1.77 +0.03 0 +0.0012 0.2362 0.0000 6 2x x 0.47 [12] DP 7.50 0.30 2.44 110 ±0.11 4.3307 ±0.0043 124 4.88 2 x M8 x 0.67 [17] DP 95 3.74 29 ±0.016 1.1417 ±0.0006 73 2.87 33 1.30 51.50 2.03 4 x [M3 x 7] 2 Slots to mount magnetic sensors 12 0.47 CL Side air port M5 x 0.24 [6] DP CLOSE CL 31.50 1.24 CL 43 ±0.019 1.6929 ±0.0007 Side air port M5 x 0.24 [6] DP OPEN 12 0.47 56 2.20 +0.03 6 0 +0.0012 2 x 0.2362 0.0000 x 0.47 [12] DP CT-32M Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 61 lbs. 272 N 90° of stroke for each finger 1.59 lbs. 0.72 Kg 40-100 psi 3-7 Bar 1.260 in. 32 mm 3 1.745 in . 28.6 cm3 Gripper's top air port 4 0.16 8 0.31 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.29 sec. 0.29 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm 4-way, 2-position O-Ring [ 1.5 x UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information N lbs. 140 31 FINGER FORCE - F/2 40 9 20 4 0 0 PSI Top air port M5 x 0.24 [6] DP CLOSE (supplied plugged) 29 ±0.016 1.1417 ±0.0006 CL 19 0.75 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. SIZE L F/2 Static Imperial Metric 65 lbs. 65 lbs. 142 in.-lbs. 142 in.-lbs. 142 in.-lbs. F/2 My Mx 288 N 288 N 16 Nm 16 Nm 16 Nm Dynamic Imperial Metric 13 lbs. 13 lbs. 35 in.-lbs. 35 in.-lbs. 35 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-32 OISP-011 OISN-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-163 SLKT-163V 1 or 2 1 1 BR-CT-32 1 PNEUMATIC ACCESSORIES Y T VITON® SEALS PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Mz Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz CL SENSOR ACCESSORIES* Z Z Loading Capacity 12 0.47 CT - 32M - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 1.75 2.25 2.75 3.25 3.75 4.25 4.75 5.25 in. 44 57 70 81 95 108 120 133mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L C 2 x M8 x 0.67 [17] DP 21.5 0.85 BASIC MODEL [7 b ar] 80 P SI [5 .5 ba r 60 PSI [4 ] .1 bar] 40 PSI [2 .7 bar] 60 13 5] GRIP FORCE PER FINGER @ 0° 100 80 18 42 1.65 43 ±0.019 1.6929 ±0.0007 How to Order: (Order Accessories separately from Basic Model) 120 27 100 22 Top air port M5 x 0.24 [6] DP OPEN (supplied plugged) 1.2 0.05 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.75 in. [44mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 25 ±0.026 0.9843 ±0.0010 57.6 N 57.6 N 4 Nm 4 Nm 4 Nm X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.63 [16] 0.47 [12] M8 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.43 [11] 0.16 [4] 3.11 [79] 0.63 [16] 1.40 [35] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.63 [16] 1.86 [47.2] 0.79 [20] 0.47 [12] Sensors Ø 0.31 [8] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER CT-40M 180° SERIES - 0.0002 2 x [M6] 90° 90° Jaws in gripping position at 0° 0.6299 - 0.0007 3.9 0.154 Shielded plate [ 5E7] 0.1969 SF CL CT SERIES 17 0.67 16 0.63 34 1.34 [16 g6] 74.5 2.933 49 1.93 [ 6H9] 2 x 0.2362 SF x 0.47 [12] DP 138 5.43 124.00 4.8819 20 0.79 2.45 107.5 4.232 81.5 3.209 39.00 1.5354 39.5 1.555 50.5 1.988 2 x [M8 x 17 DP] 12 0.47 CL CL 4 x [M4 x 8 DP] 2 Slots to mount magnetic sensors [G 1/8 x 8 DP] CLOSE 18 0.71 CL [G 1/8 x 8 DP] OPEN 26.00 1.0236 53.00 2.0866 51 2.01 CT-40M 100 lbs. 446 N 90° of stroke for each finger 2.60 lbs. 1.18 Kg 40-100 psi 3-7 Bar 1.575 in. 40 mm 3.173 in3. 52 cm3 4 0.16 8 0.31 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.41 sec. 0.41 sec. ±0.0036 in. ±0.09 mm ±0.002 in. ±0.05 mm. 4-way, 2-position Third Angle Projection Metric Threads Course Pitch 53.00 2.0866 [M5 x 6 DP] OPEN (supplied plugged) 52 2.05 25.5 1.004 Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information 2 x [M8 x 17 DP] 18 0.71 CL 39.00 1.5354 5] CL [M5 x 6 DP] CLOSE (supplied plugged) UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline O-Ring [ 1.5 x 66 2.60 [ 6H9] 2 x 0.2362 SF x 0.47 [12] DP Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. Gripper's top air port 1.2 0.05 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 2 in. [51mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 18 0.71 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. How to Order: (Order Accessories separately from Basic Model) BASIC MODEL FINGER FORCE - F/2 N lbs. 250 56 GRIP FORCE PER FINGER @ 0° CT - 40M - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 200 45 150 34 PSI [ 80 PS 7 bar] I [5.5 ba 60 PSI [4 r] .1 bar] 40 PSI [2.7 ba 100 22 PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M12 PNP Inductive Sensor with Quick Disconnect* M12 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* r] 50 11 0 0 2 3 4 5 6 in. 51 76 102 127 152mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Adj. Flow Control G1/8 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Mz L C Y T F/2 Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 94 lbs. 94 lbs. 195 in.-lbs. 195 in.-lbs. 195 in.-lbs. F/2 My Mx 420 N 420 N 22 Nm 22 Nm 22 Nm Dynamic Imperial Metric 19 lbs. 19 lbs. 49 in.-lbs. 49 in.-lbs. 49 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-40 OISP-017 OISN-017 CABL-014 CABL-018 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-005 SLKT-164 SLKT-164V 1 or 2 1 1 BR-CT-40 1 PNEUMATIC ACCESSORIES Z Z VITON® SEALS SIZE SENSOR ACCESSORIES* 100 84 N 84 N 5.5 Nm 5.5 Nm 5.5 Nm X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.63 [16] 0.47 [12] M8 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.69 [17.5] 0.22 [5.5] 3.50 [89] 1.18 [30] 1.57 [40] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.83 [21] 1.79 [45.5] 0.87 [22] 0.57 [14.5] Sensors Ø 0.47 [12] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER CT-50M 180° SERIES CT SERIES 21 0.83 90° 0.7087 5 0.20 90° - 0.0002 - 0.0007 [ 6E7] 0.2362 SF 60 2.36 [ 8H9] 2 x 0.3150 SF x 0.63 [16] DP 146.00 5.7480 20 0.79 18 0.71 Jaws in gripping position at 0° Shielded plate 2 x [M8] CL 2.46 40 1.57 [18 g6] 90 3.54 164 6.46 126 4.96 96 3.78 46.00 1.8110 44 1.73 65.5 2.579 2 x [M10 x 22 DP] [G 1/8 x 8 DP] CLOSE 60 2.36 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 2.25 in. [64mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation ................................................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate .......................... 15 0.59 CL 2 Slots to mount magnetic sensors 4 0.14 8 0.31 FINGER FORCE - F/2 0 PSI [7 b SI [5 ar] .5 b ar] 60 PS I [4.1 bar] 40 PSI [2.7 bar] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 46.00 1.8110 CL 30 1.18 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Mz L C Y T F/2 Static Imperial Metric 110 lbs. 110 lbs. 266 in.-lbs. 266 in.-lbs. 266 in.-lbs. F/2 My Mx 490 N 490 N 30 Nm 30 Nm 30 Nm Dynamic Imperial Metric 22 lbs. 22 lbs. 66 in.-lbs. 66 in.-lbs. 66 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-50 OISP-017 OISN-017 CABL-014 CABL-018 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-005 SLKT-165 SLKT-165V 1 or 2 1 1 BR-CT-50 1 PNEUMATIC ACCESSORIES Z Z VITON® SEALS SIZE SENSOR ACCESSORIES* 2.5 3.5 4.5 5.5 6.5 7.5 8.5 in. 64 89 102 140 165 191 216mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz CL BASIC MODEL 0 Loading Capacity 25 0.98 CT - 50M - V 80 P 50 11 62 2.44 O-Ring [Ø1.5 x Ø5 ] GRIP FORCE PER FINGER @ 0° 100 100 22 2 x [M10 x 21 DP] How to Order: (Order Accessories separately from Basic Model) 250 56 150 34 30 1.18 [M5 x 6 DP] CLOSE (supplied plugged) Loading Information 200 45 60.00 2.3622 [M5 x 6 DP] OPEN (supplied plugged) Gripper's top air port -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.46 sec. 0.46 sec. ±0.0036 in. ±0.09 mm ±0.002 in. ±0.05 mm. 4-way, 2-position Metric Threads Course Pitch 76 2.99 [ 8H9] 2 x 0.3150 SF x 0.63 [16] DP Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 146 lbs. 651 N 90° of stroke for each finger 4.01 lbs. 1.82 Kg 40-100 psi 3-7 Bar 1.968 in. 50 mm 5.614 in3. 92 cm3 Third Angle Projection N lbs. 300 67 30.00 1.1811 CT-50M UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline CL 60.00 2.3622 [G 1/8 x 8 DP] OPEN 25 0.98 1.2 0.05 CL 4 x [M4 x 8 DP] 98 N 98 N 7.5 Nm 7.5 Nm 7.5 Nm Adj. Flow Control G1/8 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.79 [20] 0.63 [16] M10 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.69 [17.5] 0.20 [5] 4.09 [104] 1.18 [30] 1.77 [45] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.83 [21] 2.38 [60.5] 0.87 [22] 0.75 [19] Sensors Ø 0.47 [12] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT/CT Series Exploded View Item Qty Name x2 7 x2 2 x2 4 9 x2 8 10 1 x2 3 54 5 6 1 1 1 2 1 1 1 2 2 2 1 Thread Locker Krytox™ Lubricant Lightweight Machine Oil 2.47 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure 1) Lubricate and install the seals into cap (x1), piston (x2) and body (x1) 2) If top air ports are used, clear them and plug the side air ports on the body (#1) 3) Lubricate the sloping rack of jaws (#4) 4) Install both drive pins (#9) into driver (#2) through sloping racks of jaws. Check that the pin flat surface is correctly aligned before continuing with their installation. 5) Lock drive pins in the driver with screws, tightening down on to the flat surface of the pins. 6) Position driver and jaws assembly into body. 7) Install both pivot pins (#10) into body, through the bore of jaws. Check that the pin flat surface is correctly aligned before continuing with their installation. 8) Pivot pin locking: - DCT-12 (not shown): lock pivot pins into body with screws, tightening down on to the flat surface of the pins (pins are fixed into body and rotating into jaws) - DCT-16 to CT-50: lock pivot pins into jaws with screws, tightening down on to the flat surface of the pins (pins are fixed into jaws and rotating into body) 9) Magnet mounting: - DCT-12 to DCT-20: install the magnet (#54) on the washer (#5) - DCT-25 to CT-50 (not shown): install magnet (#54) onto piston (#3) and lock it by means of its retaining ring. 10) Piston mounting: - DCT-12 to DCT-20: insert the piston and the washer with magnet into body. Fix the assembly at the end of the driver with screw. - DCT-25 to CT-50 (not shown): insert the piston with magnet into body. Fix the assembly at the end of the drivers with screw. 11) Check unit operation unladen. 12) Install the cap (#6) into body and lock it by means of its retaining ring. 13) Place both wiper covers (#8) into body and lock them with their screws. 14) Fix the shielded plate (#7) onto body with both screws. SK Seal Kit Items Body Driver Piston Jaw Washer Cap Shielded Plate Wiper Cover Drive Pin Pivot Pin Magnet DCT/CT SERIES MAINTENANCE 01 02 03 04 05 06 07 08 09 10 54 Seal Repair Kit Order #’s See Product Data Sheets Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT/CT Series Assembled View Item Qty Name 6 54 DCT/CT SERIES MAINTENANCE 5 01 02 03 04 05 06 07 08 09 10 54 3 1 2.48 9 1 1 1 2 1 1 1 2 2 2 1 Body Driver Piston Jaw Washer Cap Shielded Plate Wiper Cover Drive Pin Pivot Pin Magnet NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 8 10 2 4 7 Accessory Installation & Adjustment Instructions DCT16M, 20M 4 DCT25M, 32M CT40M, 50M 3 1 1 1 2 2 2 2 7 5 6 1 6 6 7 3 5 4 3 8 8 5 8 Installation - Adjustment Stop 1) Unscrew both screws for mounting of the shielded plate and remove it. 2) Fix the new shielded plate (#1) and the stop (#2) onto body with both screws (#3) 3) Install the locknut system (#4) and (#5) on the stop. 4) Tighten screw for maximum target jaw opening and lock with locknut. Seal Kit Items Thread Locker 3 Installation - Inductive Sensor Holders 1) Fix the flags (#1) at the end of pivot pins with their screws (#2) 2) Holder mounting: - DCT-16M to DCT-32M: fix holder (#3) and spacer (#5) onto body with both screws (#6) - DCT-40M to DCT-50M: fix holder (#3) onto body with both screws (#6) 3) Sensor mounting: - DCT-16M to DCT-20M: unscrew lightly both screws for mounting (#6) of holder and insert sensor (#8, not included) into it. Position sensor so that it senses up on flag. Lock the sensor by tightening both screws. - DCT-25M to DCT-32M: unscrew lightly screw (#7) on holder and insert sensor (#8, not included) into it. Position sensor so that it senses up the flag. Lock the sensor by tightening screw. - CT-40M to CT-50M: insert sensor (#8, not included) in stop into holder. Lock the sensor by tightening the collar holder with both screws (not shown). 4) Adjust flag position by unscrewing their screws for desired sensing positions. Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT/CT SERIES MAINTENANCE DESIGN NOTES QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY PRECISION DURABILITY QUALITY DURABILITY QUALITY PRECISION QUALITY PRECISION DURABILITY 2.49 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT-RE/CT-RE SERIES 2.50 Angular Grippers180° Spring Assist Series • Multipurpose gripper: Several accessories (adjustable stop, magneto resistive or inductive sensors) allow this gripper to be used in a number of applications. • Harsh environments: Shielded design repels chips and other particulate from internal drive mechanism. • 180° angular gripper: The full jaw opening (180°) means that the part can be direct fed, avoiding any release movement by the robot or by the actuator. • Multiple mounting locations: DIRECTCONNECT™ mounting on back of body (sizes 12-25). Standard mounting on top. • Fail safe operation: The force supplied from the internal spring can be used to maintain gripping force if the gripper looses air pressure. • Compact gripper: This gripper is designed for use in confined spaces. Technical Specifications: Mounting Information: Grippers can be mounted & operated in any orientation Gripper is located from the top with 2 dowel pins and assembled with 2 screws. DIRECTCONNECT mounting pattern: Gripper is located with 2 dowel pins and assembled with 4 screws. Alternative pattern: Gripper is located with 2 dowel pins and assembled with 2 screws. Pneumatic Specifications Pressure Operating Range Cylinder Type Dynamic Seals Valve Required to Operate Air Quality Requirements Air Filtration Air Lubrication Air Humidity Imperial Metric 60-100 psi 4-7 bar Double Acting Spring Assist or Single Acting Spring Return Internally Lubricated Buna-N 4-way, 2-position 40 Micron or Better Not Necessary* Low Moisture Content (dry) Temperature Operating Range Buna-N Seals (Standard) -30°~180° F Viton® Seals (Optional) -20°~300° F G Fingers are centered over the jaws, located with 1 dowel pin and assembled with 2 screws. The gripper is protected from falling debris when it is mounted and operated upside down. Maintenance Specifications† Expected Life Normal Application w/ Preventative Maintenance Field Repairable Seal Repair Kits Available -35°~80° C -30°~150° C 5 million cycles 10+ million cycles* Yes Yes *Addition of lubrication will greatly increase service life † See Maintenance Section Gripper can be operated utilizing top manifold air ports. For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com Style -DCT-RE Angular Gripper Gripper Attachment Adjustable Stop Gripper mounting from side or bottom Size -12M Accessory (BR) in order to adjust the opening of jaws, between 0° to 180° Viton Seals Viton seals for high temperatures (-20°F to +300°F) are optional Shielded Plate and Wiper Covers Gripper body is shielded to repel chips and other particulate from internal drive mechanism Quality Components Made from aluminum alloy anodized with Teflon™ impregnation. The gripper's main components are made of heat treated steel. Style: Stroke: Grip Force: Weight: DCT-12M-RE 90° each finger 9 lbs 40 N 0.26 lbs 0.12 Kg See Page 2.52 Style -DCT-RE Angular Gripper Size -16M Style: Stroke: Grip Force: Weight: DCT-16M-RE 90° each finger 19 lbs 87 N 0.44 lbs 0.20 Kg Mounting Patterns DIRECTCONNECT™ mounting surface on back of body (sizes 12-25) Inductive Sensor Mounting Kit Fail Safe Spring Accessory (SD) in order to control jaw position: comes with 2 holders for tubular sensors and 2 adjustable flags (except size -12) Internal spring allows the gripper to hold onto part with loss of air pressure See Page Style -DCT-RE Angular Gripper Size -20M Style: Stroke: Grip Force: Weight: Multiple Air Ports Side or top air ports (top ports require O-ring) Magneto Resistive Sensor Mounting Kit The gripper comes with adjustable slots for the 2 magnetic sensors (to control jaw position) DCT-20M-RE 90° each finger 32 lbs 141 N 0.73 lbs 0.33 Kg See Page 2.54 Style -DCT-RE Angular Gripper Size -25M Operating Principle 2.53 Style: Stroke: Grip Force: Weight: DCT-25M-RE 90° each finger 45 lbs 199 Nm 1.26 lbs 0.57 Kg Shielded Plate Drive Pin See Page Drive Pin Slot 2.55 Style -CT-RE Angular Gripper Jaw Pivot Pin Driver Wiper Cover Size -32M Style: Stroke: Grip Force: Weight: Fail Safe Spring Body See Page Piston 2.56 Style-CT-RE Angular Gripper CT-40M-RE Size -40M Style: Stroke: 90° each finger Magnet Cap CT-32M-RE 90° each finger 79 lbs 353 N 1.83 lbs 0.83 Kg Grip Force: Weight: 133 lbs 3.06 lbs See Page Exhaust Pressure Pressure Exhaust • A double acting piston, with a ring magnet for magneto resistive sensing, is connected to a fork driver on which 2 drive pins are fixed. • Jaw rotation is synchronized with the drive pin-jaw assembly. • Sliding in these slots, drive pins convert vertical motion of the piston into rotating opposite synchronous motion of both jaws. • Each jaw has a useful rotation stroke of 90°, between the 90° open position and the 0° gripping position, plus a gripping over-stroke of approximately 1.5° before reaching the fully gripped position. Jaws have to be designed for a 0° gripping position (parallel jaws) • The fail safe spring allow the gripper to retain the component should the air supply fail or for the gripper to be used in single acting mode. 592 N 1.39 Kg 2.57 Style-CT-RE Angular Gripper CT-50M-RE Size -50M Style: Stroke: 90° each finger Grip Force: 201 in-lbs 893 N Weight: 4.87 lbs 2.21 Kg See Page 2.58 For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT-RE/CT-RE SERIES Product Features 2.51 ANGULAR GRIPPER DCT-12M-RE 180° SERIES DCT-RE SERIES - 0.0002 0.2362 -0.0005 10 0.39 36.5 1.437 90° Jaws in gripping position at 0° 2 x [M3] THRU 1.6 0.063 90° 6.0 0.236 18 0.71 [6g6] Shielded plate CL 2.5E7] THRU [ 25 0.98 4 x [M3 x 7 DP] 2x[ 2.52 3H7 x 6 DP] 80 3.15 72.00 2.8346 9.5 0.375 64 2.52 51.5 2.028 CL 35.00 1.3780 2x[ 16.5 0.650 2.5H7 x 4.5 DP] 14.50 0.5709 2 x [M3 x 7 DP] 12.50 0.4921 8 0.31 CL Side air port [M5 x 6 DP] CLOSE 2 Slots to mount magnetic sensors CL 19.05 0.7500 Side air port [M5 x 6 DP] OPEN 9 0.35 24.50 0.9646 DCT-12M-RE Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 9 lbs. 40 N 90° of stroke for each finger 0.26 lbs. 0.12 Kg 60-100 psi 4-7 Bar 0.472 in. 12 mm 3 0.117 in . 1.92 cm3 Third Angle Projection 3 0.12 5 0.2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.08 / 0.05 sec. ±0.0028 in. ±0.07 mm ±0.002 in. ±0.05 mm 3-way, 2-position 4-way, 2-position All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch FINGER FORCE - F/2 lbs. 5 16 4 12 3 8 2 4 1 0 0 24.50 0.9646 2.5H9 x 4.5 DP] O-Ring [ 20 0.79 1x 2 x [M3 x 7 DP] 9 0.35 9 0.35 CL 14.50 0.5709 3] Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) CL 8.6 0.339 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information N 20 2x[ 30 1.18 Gripper's top air port UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Top air port [M3 x 5.5 DP] OPEN (supplied plugged) 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1 in. [25mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. How to Order: (Order Accessories separately from Basic Model) VITON® SEALS BASIC MODEL GRIP FORCE PER FINGER @ 0° WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS DCT - 12M - RE - V NOTE: DCT-12-RE can be used as an exact replacement for CT-12-RE 100 PSI [7 b 80 P SI [5 ar] 60 PS .5 bar] I [4.1 ba 40 PSI [2 r] .7 bar] 20 PSI [1.3 bar] 0 PSI [0 bar] SIZE SPRING SENSOR ACCESSORIES * PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 2.0 2.5 1 1.5 3 in. 50 64 25 35 76mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-159 SLKT-159V 1 or 2 1 1 BR-CT-12 1 PNEUMATIC ACCESSORIES Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Z Z OHSP-006 OHSN-006 OHSP-008 OHSN-008 CABL-010 CABL-013 Mz MOUNTING ACCESSORIES L C T Adjustment Stop Kit (1 Shielded Plate + 1 Stop) Y F/2 My Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 11 lbs. 11 lbs. 10 in.-lbs. 10 in.-lbs. 10 in.-lbs. 47 N 47 N 1.1 Nm 1.1 Nm 1.1 Nm F/2 X *Sensor and cable sold separately. 0.31 [8] M4 0.20 [5] Dynamic Imperial Metric 2 lbs. 2 lbs. 3 in.-lbs. 3 in.-lbs. 3 in.-lbs. 9.4 N 9.4 N 1.1 Nm 1.1 Nm 1.1 Nm 0.59 [15] MAX. ADJUSTABLE STOP KIT (BR) For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-16M-RE 180° SERIES 20 0.79 [8g6] 2 0.08 90° 90° - 0.0002 0.3150 - 0.0006 Jaws in gripping position at 0° 2 x [M3] THRU Shielded plate CL [ 8.0 0.315 2.5E7] THRU DCT-RE SERIES 10 0.39 40.5 1.594 26.5 1.043 4 x [M3 x 7 DP] 9 0.35 79.00 3.1102 56.5 2.224 2x[ 71 2.80 9.5 0.375 2x[ 38.5 1.516 20.5 0.807 2 Slots to mount magnetic sensors Side air port [M5 x 6 DP] CLOSE 17 0.67 18.00 0.7087 3H9 x 5.5 DP] 2 x [M4 x 9 DP] 14.00 0.5512 CL 29.00 1.1417 DCT-16M-RE 36 1.42 Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 19 lbs. 87 N 90° of stroke for each finger 0.44 lbs. 0.20 Kg 60-100 psi 4-7 Bar 0.630 in. 16 mm 4.12 cm3 0.251 in3. Top air port [M3 x 5.5 DP] OPEN (supplied plugged) Gripper's top air port 3 0.12 5 0.2 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.15 / 0.12 sec. ±0.0028 in. ±0.07 mm ±0.002 in. ±0.05 mm. 3-way, 2-position 4-way, 2-position 35.00 1.3780 19.05 0.7500 Side air port [M5 x 6 DP] OPEN 2x[ 29.00 1.1417 11.5 0.453 3H9 x 5.5 DP] 2 x [M4 x 9 DP] 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1 in. [25mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... 10 0.39 CL 8 0.31 CL CL 4 x [M3 x 5.5 DP] 87 3.43 3H7 x 6 DP] O-Ring [ 1x 25 0.98 3] 10 0.39 CL 18.00 0.7087 CL Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) 9 0.35 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information FINGER FORCE - F/2 N lbs. 50 11 40 9 30 7 20 4 10 2 0 0 How to Order: (Order Accessories separately from Basic Model) DCT - 16M - RE - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PSI 80 PSI [7 ba [5.5 r] bar 60 P SI [4 ] .1 b 40 PSI ar] [2.7 ba r] 20 PSI [1 .3 bar] 0 PSI [0 bar] NOTE: DCT-16-RE can be used as an exact replacement for CT-16-RE Y F/2 Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 20 lbs. 20 lbs. 26 in.-lbs. 26 in.-lbs. 26 in.-lbs. 90 N 90 N 2.9 Nm 2.9 Nm 2.9 Nm F/2 My Mx Dynamic Imperial Metric 4 lbs. 4 lbs. 6 in.-lbs. 6 in.-lbs. 6 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-16 OISP-014 OISN-014 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-160 SLKT-160V 1 or 2 1 1 BR-CT-16 1 1 or 2 1 or 2 1 or 2 1 or 2 PNEUMATIC ACCESSORIES Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Mz Loading Capacity SPRING PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) 4mm PNP Inductive Sensor with Quick Disconnect* 4mm NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Z Z T SIZE SENSOR ACCESSORIES* 2.0 2.5 1 1.5 3 in. 50 64 25 35 76mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L C VITON® SEALS BASIC MODEL GRIP FORCE PER FINGER @ 0° L NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. 18 N 18 N 0.7 Nm 0.7 Nm 0.7 Nm X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.39 [10] 0.24 [6] M5 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.31 [8] 0.16 [4] 2.38 [60.5] 0.59 [15] 0.79 [20] MAX. ADJUSTABLE STOP KIT (BR) 0.24 [6] 0.46 [11.7] 1.40 [35.5] 0.48 [12.3] 0.22 [5.5] Sensors Ø 0.16 [4] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com 2.53 ANGULAR GRIPPER DCT-20M-RE 180° SERIES 22 0.87 [10g6] 12 0.47 DCT-RE SERIES 49.5 1.949 10.0 0.394 Jaws in gripping position at 0° 2 x [M4] THRU 2.6 0.102 90° 90° - 0.0002 0.3937 - 0.0006 Shielded plate CL [ 3E7] THRU 33 1.30 4 x [M3 x 6 DP] 9 0.35 2.54 2x[ 94.00 3.7008 83 3.27 66.5 2.618 104 4.09 4H9 x 8 DP] 9.5 0.375 CL 47 1.85 2x[ 25 0.96 21.50 0.8465 3H7 x 6 DP] 2 x [M5 x 11 DP] CL 2 Slots to mount magnetic sensors 4 x [M3 x 5.5 DP] 11 0.43 22 0.87 CL 33.50 1.3189 42 1.65 DCT-20M-RE Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 32 lbs. 141 N 90° of stroke for each finger 0.73 lbs. 0.33 Kg 60-100 psi 4-7 Bar 0.787 in. 20 mm 0.483 in3. 7.92 cm3 Top air port [M3 x 5.5 DP] OPEN (supplied plugged) Gripper's top air port 3 0.12 5 0.2 O-Ring [ 1x 39.00 1.5354 19.05 0.7500 Side air port [M5 x 6 DP] OPEN 2x[ 33.50 1.3189 13.5 0.531 2 x [M5 x 11 DP] 4H9 x 8 DP] 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.25 in. [32mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... 8 0.31 CL Side air port [M5 x 6 DP] CLOSE 20.00 0.78740 30 1.18 3] -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.20 / 0.14 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm 3-way, 2-position 4-way, 2-position 11 0.43 21.50 0.8465 CL CL Top air port [M3 x 5.5 DP] CLOSE (supplied plugged) 10 0.39 NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline Third Angle Projection All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] Loading Information N lbs. 70 16 How to Order: (Order Accessories separately from Basic Model) FINGER FORCE - F/2 40 9 30 7 20 4 10 2 0 0 DCT - 20M - RE - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 PSI [7 b 80 P a SI [5 r] .5 b ar] 60 P SI [4 .1 ba r] 40 PS I [2.7 bar] 20 PSI [1 .3 bar] 0 PSI [0 bar] NOTE: DCT-20-RE can be used as an exact replacement for CT-20-RE T Y F/2 Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 34 lbs. 34 lbs. 53 in.-lbs. 53 in.-lbs. 53 in.-lbs. F/2 My Mx 150 N 150 N 6 Nm 6 Nm 6 Nm Dynamic Imperial Metric 7 lbs. 7 lbs. 13 in.-lbs. 13 in.-lbs. 13 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-20 OISP-014 OISN-014 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-161 SLKT-161V 1 or 2 1 1 BR-CT-20 1 PNEUMATIC ACCESSORIES Mz C SPRING PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) 4mm PNP Inductive Sensor with Quick Disconnect* 4mm NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Z Z SIZE SENSOR ACCESSORIES* 1.25 1.75 2.25 2.75 3.25 in. 32 44 57 70 83mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L L VITON® SEALS BASIC MODEL GRIP FORCE PER FINGER @ 0° 60 13 50 11 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. 30 N 30 N 1.5 Nm 1.5 Nm 1.5 Nm Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.47 [12] 0.31 [8] M6 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.31 [8] 0.14 [3.5] 2.79 [71] 0.59 [15] 0.98 [25] MAX. ADJUSTABLE STOP KIT (BR) 0.24 [6] 0.46 [11.7] 1.73 [44] 0.48 [12.3] 0.48 [8] Sensors Ø 0.16 [4] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER DCT-25M-RE 180° SERIES 26 1.02 [12g6] 15 0.59 90° 0.4724 Shielded plate [ 4 E7] 0.1575 SF CL 12 0.47 Jaws in gripping position at 0° 2 x [M5] 3.3 0.130 90° - 0.0002 - 0.0007 39.5 1.555 7.5 0.295 4 x [M5 x 11 DP] 127 5.00 114.50 4.5079 19.1 0.750 102 4.02 82 3.23 2x[ 60.5 2.382 DCT-RE SERIES 59 2.32 2.55 CL 5H7 x 10 DP] 51.00 2.0079 28.5 1.122 10 0.39 CL CL 2 Slots to mount magnetic sensors 4 x [M3 x 7 DP] [M5 x 6 DP] CLOSE CL 11 0.43 38.10 1.5000 (Dowels) [M5 x 6 DP] OPEN 26.5 1.043 DCT-25M-RE 45 lbs. 199 N 90° of stroke for each finger 1.26 lbs. 0.57 Kg 60-100 psi 4-7 Bar 0.984 in. 25 mm 0.909 in3. 14.9 cm3 Third Angle Projection 3 0.12 5 0.2 O-Ring [ Metric Threads Course Pitch FINGER FORCE - F/2 80 18 40 9 20 4 0 0 PSI [7 80 P bar] SI [5 .5 b ar 60 PS I [4.1 ] bar] 40 PSI [2 .7 bar] 20 PSI [1.3 bar] 0 PSI [0 bar] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] F/2 F/2 Dynamic Imperial Metric 9 lbs. 9 lbs. 22 in.-lbs. 22 in.-lbs. 22 in.-lbs. SPRING OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-25 OISP-011 OISN-011 CABL-010 CABL-013 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-008 SLKT-162 SLKT-162V 1 or 2 1 1 BR-CT-25 1 PNEUMATIC ACCESSORIES My 205 N 205 N 10 Nm 10 Nm 10 Nm VITON® SEALS PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Y Static Imperial Metric 46 lbs. 46 lbs. 89 in.-lbs. 89 in.-lbs. 89 in.-lbs. CL 12 0.47 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. SIZE Z Mx Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz 26.00 1.0236 SENSOR ACCESSORIES* Mz Loading Capacity CL DCT - 25M - RE - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS Z T 11 0.43 BASIC MODEL 1.75 2.25 2.75 3.25 3.75 4.25 4.75 in. 44 57 70 81 95 108 121mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L C 36 1.42 3] NOTE: DIRECTCONNECT™ DIMENSIONS ARE SHOWN IN BLUE GRIP FORCE PER FINGER @ 0° L 2 x [M6 x 13 DP] How to Order: (Order Accessories separately from Basic Model) 100 60 13 17.5 0.689 [M5 x 6 DP] CLOSE (supplied plugged) Loading Information N lbs. 100 22 1x -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.25 / 0.19 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm. 3-way, 2-position 4-way, 2-position All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] 40.00 1.5748 [M5 x 6 DP] OPEN (supplied plugged) Gripper's top air port UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline 50 1.97 [ 5H9] 2 x 0.1969 SF x 0.39 [10] DP Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. 0.8 0.03 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.75 in. [44mm] @ 0°...................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... 41 N 41 N 2.5 Nm 2.5 Nm 2.5 Nm M5 Adjustable Flow Control Buna-N Seal Repair Kit Viton® Seal Repair Kit X MOUNTING ACCESSORIES Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.55 [14] 0.39 [10] M6 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.43 [11] 0.18 [4.5] 3.44 [87.5] 0.63 [16] 1.18 [30] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.63 [16] 2.21 [56.2] 0.79 [20] 0.37 [9.5] Sensors Ø 0.31 [8] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER CT-32M-RE 180° SERIES - 0.006 - 0.017 14 17 = 0.67 = 67 2.64 0.5512 28 1.10 - 0.0002 - 0.0007 2 x M6 3.9 0.15 CT-RE SERIES 90° +0.032 5 +0.020 Jaws in gripping position at 0° Shielded plate +0.0013 0.1969 +0.0008 90° 45 1.77 6 2x 7.50 0.30 +0.03 0 +0.0012 0.2362 0.0000 x 0.47 [12] DP 145 5.71 131 ±0.125 5.1575 ±0.0049 116 4.57 2.56 14 0.551 2 x M8 x 0.67 [17] DP 29 ±0.016 1.1417 ±0.0006 94 3.70 72.50 2.85 33 1.30 30 ±0.026 1.1811 ±0.0010 2 Slots to mount magnetic sensors CL 31.50 1.24 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 1.75 in. [44mm] @ 0° ................ Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... CL 12 0.47 Side air port M5 x 0.24 [6] DP OPEN Third Angle Projection +0.03 2x 79 lbs. 353 N 90° of stroke for each finger 1.83 lbs. 0.83 Kg 60-100 psi 4-7 Bar 1.260 in. 32 mm 28.6 cm3 1.745 in3. Gripper's top air port 4 0.14 8 0.31 -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.35 / 0.26 sec. ±0.003 in. ±0.08 mm ±0.002 in. ±0.05 mm 3-way, 2-position 4-way, 2-position All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] Metric Threads Course Pitch FINGER FORCE - F/2 60 13 30 0 7 Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] CL 29 ±0.016 1.1417 ±0.0006 Top air port M5 x 0.24 [6] DP CLOSE (supplied plugged) CL 19 0.75 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. SIZE 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 Adj. Flow Control M5 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit VLVF-008 SLKT-163 SLKT-163V 1 or 2 1 1 BR-CT-32 1 MOUNTING ACCESSORIES F/2 F/2 My Mx Static Imperial Metric 65 lbs. 65 lbs. 142 in.-lbs. 142 in.-lbs. 142 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-32 OISP-011 OISN-011 CABL-010 CABL-013 PNEUMATIC ACCESSORIES Y T SPRING PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* Mz L VITON® SEALS SENSOR ACCESSORIES* Z Z Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz 12 0.47 CT - 32M - RE - V 0 1.75 2.25 2.75 3.25 3.75 4.25 4.75 5.25 5.75 in. 44 57 70 81 95 108 120 133 146mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L Loading Capacity 2 x M8 x 0.67 [17] DP 21.5 0.85 BASIC MODEL WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 0P SI [7 80 PSI bar] [5.5 b 60 P SI [4 ar] .1 b 40 PS ar] I [2.7 bar] 20 PSI [1 .3 bar] 0 PSI [0 bar] C 42 1.65 O-Ring [Ø1.5 x Ø5 ] Imperial in. GRIP FORCE PER FINGER @ 0° 10 90 20 43 ±0.019 1.6929 ±0.0007 How to Order: (Order Accessories separately from Basic Model) 150 34 120 27 56 2.20 6 0 +0.0012 0.2362 0.0000 x 0.47 [12] DP Top air port M5 x 0.24 [6] DP OPEN (supplied plugged) Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. Loading Information N lbs. 180 40 CL 43 ±0.019 1.6929 ±0.0007 CT-32M-RE UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline 12 0.47 1.2 0.05 4 x [M3 x 7] Side air port M5 x 0.24 [6] DP CLOSE 288 N 288 N 16 Nm 16 Nm 16 Nm Dynamic Imperial Metric 13 lbs. 13 lbs. 35 in.-lbs. 35 in.-lbs. 35 in.-lbs. 57.6 N 57.6 N 4 Nm 4 Nm 4 Nm X Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.63 [16] 0.47 [12] M8 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.43 [11] 0.16 [4] 3.94 [100] 0.63 [16] 1.40 [35] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.63 [16] 2.68 [68.2] 0.79 [20] 0.47 [12] Sensors Ø 0.31 [8] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER CT-40M-RE 180° SERIES 34 1.34 [16g6] 17 0.67 90° - 0.0002 0.6299 - 0.0007 [ 5E7] 0.1969 SF CL 20 0.79 Jaws in gripping position at 0° Shielded plate 2 x [M6] 3.9 0.154 90° 16 0.63 49 1.93 [ 6H9] 2 x 0.2362 SF x 0.47 [12] DP 151.50 5.9646 165.5 6.516 135 5.31 109 4.29 39.5 1.555 2 x [M8 x 17 DP] CL [G 1/8 x 8 DP] CLOSE CT-40M-RE 133 lbs. 592 N 90° of stroke for each finger 3.06 lbs. 1.39 Kg 60-100 psi 4-7 Bar 1.575 in. 40 mm 52 cm3 3.173 in3. Metric Threads Course Pitch 4 0.14 8 0.31 FINGER FORCE - F/2 50 11 0 2 x [M8 x 17 DP] 52 2.05 18 0.71 39.00 1.5354 CL O-Ring [Ø1.5 x Ø5 ] Imperial in. Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] CL 18 0.71 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. VITON® SEALS BASIC MODEL GRIP FORCE PER FINGER @ 0° CT - 40M - RE - V WARNING! DO NOT EXCEED MAXIMUM EFFECTIVE FINGER LENGTHS 100 P 80 SI [7 PSI bar 60 P [5.5 b ] SI [4 ar] 40 P .1 bar] SI [2 .7 ba 20 PS r] I [1.3 bar] 0 PSI [0 ba r] 100 22 25.5 1.004 How to Order: (Order Accessories separately from Basic Model) 250 56 150 34 [M5 x 6 DP] OPEN (supplied plugged) [M5 x 6 DP] CLOSE (supplied plugged) Loading Information 200 45 66 2.60 53.00 2.0866 Gripper's top air port -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.47 / 0.38 sec. ±0.0036 in. ±0.09 mm ±0.002 in. ±0.05 mm. 3-way, 2-position 4-way, 2-position All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] [ 6H9] 2 x 0.2362 SF x 0.47 [12] DP Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW N lbs. 300 67 CL 53.00 2.0866 [G 1/8 x 8 DP] OPEN 1.2 0.05 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 2 in. [51mm] @ 0°........................... Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... 18 0.71 32.00 1.2598 12 0.47 CL 2 Slots to mount magnetic sensors 51 2.01 4 x [M4 x 8 DP] Third Angle Projection 2.57 39.00 1.5354 78 3.07 Dimensions are symmetrical about centerline CT-RE SERIES 74.5 2.933 SIZE PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M12 PNP Inductive Sensor with Quick Disconnect* M12 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 0 2 3 4 5 6 7 in. 51 76 102 127 152 178mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-40 OISP-017 OISN-017 CABL-014 CABL-018 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 VLVF-005 SLKT-164 SLKT-164V 1 or 2 1 1 BR-CT-40 1 PNEUMATIC ACCESSORIES Z Z SPRING SENSOR ACCESSORIES* Adj. Flow Control G1/8 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit Mz MOUNTING ACCESSORIES L C Y T F/2 My Mx Loading Capacity Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz Static Imperial Metric 94 lbs. 94 lbs. 195 in.-lbs. 195 in.-lbs. 195 in.-lbs. F/2 420 N 420 N 22 Nm 22 Nm 22 Nm Dynamic Imperial Metric 19 lbs. 19 lbs. 49 in.-lbs. 49 in.-lbs. 49 in.-lbs. 84 N 84 N 5.5 Nm 5.5 Nm 5.5 Nm X Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.63 [16] 0.47 [12] M8 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.69 [17.5] 0.22 [5.5] 4.59 [116.5] 1.18 [30] 1.57 [40] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.83 [21] 2.87 [73] 0.87 [22] 0.57 [14.5] Sensors Ø 0.47 [12] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com ANGULAR GRIPPER CT-50M-RE 180° SERIES 90 3.54 40 1.57 [18g6] 21 0.83 90° 0.7087 2 x [M8] 5 0.20 CT-RE SERIES 90° 60 2.36 [ 8H9] 2 x 0.3150 SF x 0.63 [16] DP 183.00 7.2047 2.58 18 0.71 Jaws in gripping position at 0° Shielded plate [ 6 E7] 0.2362 SF CL 20 0.79 - 0.0002 - 0.0007 201 7.91 163 6.42 46.00 1.8110 133 5.24 102.50 4.035 44 1.73 2 x [M10 x 22 DP] CL [G 1/8 x 8 DP] CLOSE 60 2.36 Specifications Total Rated Grip Force, F @ 100 psi [7 bar] L = 2.5 in. [64mm] @ 0°........................ Stroke........................................................ Weight ....................................................... Pressure Range......................................... Cylinder Bore Ø ......................................... Displacement ............................................ Temperature Range Standard Seals....................................... Viton® Seals ............................................ Actuation (open/close)............................... Accuracy.................................................... Repeatability.............................................. Valve required to actuate single acting ..... Valve required to actuate double acting.... 25 0.98 CT-50M-RE 201 lbs. 893 N 90° of stroke for each finger 4.87 lbs. 2.21 Kg 60-100 psi 4-7 Bar 1.968 in. 50 mm 5.614 in3. 92 cm3 Third Angle Projection Metric Threads Course Pitch 4 0.14 8 0.31 Metric [mm] 0.00 = ±.01 0.000 = ±.005 0.0000 = ±.0005 [0.] = [±.25] [0.0] = [±.13] [0.00] = [±.013] FINGER FORCE - F/2 62 2.44 25 0.98 46.00 1.8110 CL CL 30 1.18 NOTE: Jaws have to be designed for a 0° gripping position (parallel jaws). Jaws will close 1.5° past parallel. To limit shocks at the end of an opening or closing stroke, it is highly recommended to design jaws with minimal inertia (as light and short as possible). Flow Controls make it possible to reduce the rotation speed and are highly recommended. CT - 50M - RE - V SIZE PNP Magneto Resistive Sensor Long Barrel w/Qk Disc* NPN Magneto Resistive Sensor Long Barrel w/Qk Disc* PNP Magneto Resistive Sensor Short Barrel w/Qk Disc* NPN Magneto Resistive Sensor Short Barrel w/Qk Disc* Inductive Sensor Mounting Kit (mounts 2 sensors) M8 PNP Inductive Sensor with Quick Disconnect* M8 NPN Inductive Sensor with Quick Disconnect* Quick Disconnect 2 Meter Cable Length* Quick Disconnect 5 Meter Cable Length* 1 or 2 1 or 2 1 or 2 1 or 2 1 1 or 2 1 or 2 1 or 2 1 or 2 Adj. Flow Control G1/8 Elbow - 6mm OD Push-in (Metric) Buna-N Seal Repair Kit Viton® Seal Repair Kit VLVF-005 SLKT-165 SLKT-165V 1 or 2 1 1 BR-CT-50 1 MOUNTING ACCESSORIES F/2 F/2 My Mx Static Imperial Metric 110 lbs. 110 lbs. 266 in.-lbs. 266 in.-lbs. 266 in.-lbs. OHSP-006 OHSN-006 OHSP-008 OHSN-008 SD-CT-50 OISP-017 OISN-017 CABL-014 CABL-018 PNEUMATIC ACCESSORIES Y T SPRING SENSOR ACCESSORIES* Z L VITON® SEALS BASIC MODEL Mz Loading Capacity 2 x [M10 x 21 DP] How to Order: (Order Accessories separately from Basic Model) Z Maximum Tensile T Maximum Compressive C Maximum Moment Mx Maximum Moment My Maximum Moment Mz 30 1.18 O-Ring [Ø1.5 x Ø5 ] Imperial in. GRIP FORCE PER FINGER @ 0° lbs. 101 90 WARNING! 10 79 DO NOT EXCEED 0P 80 SI [7 MAXIMUM EFFECTIVE 67 PS ba I FINGER LENGTHS 60 [5.5 r] PS 56 I [4 bar] .1 b 40 P a 45 SI [2 r] .7 b ar] 20 PS 34 I [1.3 bar] 22 0 PSI [0 ba r] 11 0 2.5 3.5 4.5 5.5 6.5 7.5 8.5 9.5 in. 64 89 102 140 165 191 216 241mm EFFECTIVE FINGER LENGTH FROM ROTATION AXIS - L C [M5 x 6 DP] OPEN (supplied plugged) [M5 x 6 DP] CLOSE (supplied plugged) Loading Information N 450 400 350 300 250 200 150 100 50 0 60.00 2.3622 Gripper's top air port -30°~180° F -35°~80° C -20°~300° F -30°~150° C 0.54 / 0.42 sec. ±0.0036 in. ±0.09 mm ±0.002 in. ±0.05 mm. 3-way, 2-position 4-way, 2-position All Dowel Holes are SF (Slip Fit). Locational Tolerance ±.0005" or [±.013mm] 76 2.99 [ 8H9] 2 x 0.3150 SF x 0.63 [16] DP Our grippers are supplied with open side air ports and top air ports plugged. When operating top air ports, produce manifold sealing as shown. UNLESS OTHERWISE NOTED ALL TOLERANCES ARE AS SHOWN BELOW Dimensions are symmetrical about centerline CL 60.00 2.3622 [G 1/8 x 8 DP] OPEN 1.2 0.05 4 x [M4 x 8 DP] 15 0.59 CL 2 Slots to mount magnetic sensors 40.00 1.5748 490 N 490 N 30 Nm 30 Nm 30 Nm Dynamic Imperial Metric 22 lbs. 22 lbs. 66 in.-lbs. 66 in.-lbs. 66 in.-lbs. 98 N 98 N 7.5 Nm 7.5 Nm 7.5 Nm X Adjustment Stop Kit (1 Shielded Plate + 1 Stop) *Sensor and cable sold separately. 0.79 [20] 0.63 [16] M10 INDUCTIVE SENSORS AND MOUNTING KIT (SD) 0.69 [17.5] 0.20 [5] 5.55 [141] 1.18 [30] 1.77 [45] MAX. ADJUSTABLE STOP KIT (BR) 0.39 [10] 0.83 [21] 3.84 [97.5] 0.87 [22] 0.75 [19] Sensors Ø 0.47 [12] For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT-RE/CT-RE Series Exploded View Item Qty Name 7 x2 2 x2 9 4 8 x2 1 x2 10 x2 64 3 6 Seal Kit Items 1 1 1 2 1 1 1 2 2 2 1 1 Krytox™ Lubricant Lightweight Machine Oil 2.59 NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. Assembly Procedure 1) Lubricate and install the seals into cap (x1), piston (x2) and body (x1) 2) If top air ports are used, clear them and plug the side air ports on the body (#1) 3) Lubricate the sloping rack of jaws (#4) 4) Install both drive pins (#9) into driver (#2) through sloping racks of jaws. Check that the pin flat surface is correctly aligned before continuing with their installation. 5) Lock drive pins in the driver with screws, tightening down on to the flat surface of the pins. 6) Position driver and jaws assembly into body. 7) Install both pivot pins (#10) into body, through the bore of jaws. Check that the pin flat surface is correctly aligned before continuing with their installation. 8) Pivot pin locking: - DCT-12 (not shown): lock pivot pins into body with screws, tightening down on to the flat surface of the pins (pins are fixed into body and rotating into jaws) - DCT-16 to CT-50: lock pivot pins into jaws with screws, tightening down on to the flat surface of the pins (pins are fixed into jaws and rotating into body) 9) Magnet mounting: - DCT-12 to DCT-20: install the magnet (#54) on the washer (#5) - DCT-25 to CT-50 (not shown): install magnet (#54) onto piston (#3) and lock it by means of its retaining ring. 10) Piston mounting: - DCT-12 to DCT-20: insert the spring, then the piston and the washer with magnet into body. Fix the assembly at the end of the driver with screw. - DCT-25 to CT-50 (not shown): insert the spring, then the piston with magnet into body. Fix the assembly at the end of the drivers with screw. 11) Check unit operation unladen. 12) Install the cap (#6) into body and lock it by means of its retaining ring. 13) Place both wiper covers (#8) into body and lock them with their screws. 14) Fix the shielded plate (#7) onto body with both screws. SK Thread Locker Body Driver Piston Jaw Washer Cap Shielded Plate Wiper Cover Drive Pin Pivot Pin Magnet Spring DCT-RE/CT-RE SERIES MAINTENANCE 01 02 03 04 05 06 07 08 09 10 54 64 Seal Repair Kit Order #’s See Product Data Sheets Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com DCT-RE/CT-RE Series Assembled View Item Qty Name 6 DCT-RE/CT -RE SERIES MAINTENANCE 5 54 01 02 03 04 05 06 07 08 09 10 54 64 1 3 2.60 64 9 1 1 1 2 1 1 1 2 2 2 1 1 Body Driver Piston Jaw Washer Cap Shielded Plate Wiper Cover Drive Pin Pivot Pin Magnet Spring NOTE: Contact the Robohand Sales Department for a complete spare parts list with order numbers and prices. 8 10 2 4 7 Accessory Installation & Adjustment Instructions DCT16M, 20M-RE DCT-25M, 32M-RE CT-40M, 50M-RE 3 4 1 1 1 2 2 2 2 5 6 7 1 6 6 7 3 3 4 8 5 5 8 Installation - Adjustment Stop 1) Unscrew both screws for mounting of the shielded plate and remove it. 2) Fix the new shielded plate (#1) and the stop (#2) onto body with both screws (#3) 3) Install the locknut system (#4) and (#5) on the stop. 4) Tighten screw for maximum target jaw opening and lock with locknut. Seal Kit Items Thread Locker 8 3 Installation - Inductive Sensor Holders 1) Fix the flags (#1) at the end of pivot pins with their screws (#2) 2) Holder mounting: - DCT-16M to DCT-32M: fix holder (#3) and spacer (#5) onto body with both screws (#6) - CT-40M to CT-50M: fix holder (#3) onto body with both screws (#6) 3) Sensor mounting: - DCT-16M to DCT-20M: unscrew lightly both screws for mounting (#6) of holder and insert sensor (#8, not included) into it. Position sensor so that it senses up on flag. Lock the sensor by tightening both screws. - DCT-25M to DCT-32M: unscrew lightly screw (#7) on holder and insert sensor (#8, not included) into it. Position sensor so that it senses up the flag. Lock the sensor by tightening screw. - CT-40M to CT-50M: insert sensor (#8, not included) in stop into holder. Lock the sensor by tightening the collar holder with both screws (not shown). 4) Adjust flag position by unscrewing their screws for desired sensing positions. Krytox™ Lubricant Lightweight Machine Oil Teflon® Based Grease Super Bonder Third Angle Projection For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: 203-452-7418 Visit us on the Internet at: www.destaco.com

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