SMC MHZ2-6 Parallel Type Air Gripper User Manual

SMC MHZ2-6 Parallel Type Air Gripper

MODEL / Series / Product Number

• MHZ2-6
• MHZJ2-6
• MHZA2-6
• MHZAJ2-6

Safety Instructions

These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC)1) , and other safety regulations.
1) ISO 4414: Pneumatic fluid power — General rules relating to systems.

• ISO 4413: Hydraulic fluid power — General rules relating to systems.
• IEC 60204-1: Safety of machinery — Electrical equipment of machines .(Part 1: General requirements)
• ISO 10218: Manipulating industrial robots -Safety. etc.

Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury.

Warning

1. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product.
   This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment.

2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly.
   The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.

3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.

   • The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed.
   • When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.
   • Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.

4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.

   • Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight. 2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.
   • An application which could have negative effects on people, property, or animals requiring special safety analysis.
   • Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation.

Caution
The product is provided for use in manufacturing industries.

• The product herein described is basically provided for peaceful use in manufacturing industries.
• If considering using the product in other industries, consult SMC beforehand and exchange
• specifications or a contract if necessary.
• If anything is unclear, contact your nearest sales branch.

Product Specifications

Operating pressure (Mpa)

| Double acting: D| 0.15 to 0.7

Single acting

| Normally open: S|

0.3 to 0.7

Normally

closed: C

Ambient and fluid temperature (oC)| －10 to 60
Repeatability (mm)| +/-0.01
Maximum operating frequency (c.p.m.)|

180

Lubrication| Lubrication not required.
Action| Double acting, single acting

Note 1) Gripping force per finger Effective value (N)

|

D

| O.D.

External gripping force

|

3.3

I.D.

Internal gripping force

|

6.1

S

| O.D.

External gripping force

|

1.9

C

| I.D.

Internal gripping force

|

3.7

Open/close stroke (Both sides）(mm)| 4
Note 2) Weight (g)| 27| 28| 26| 27

Note 1) Values based on pressure of 0.5 MPa, gripping point L=20 mm, at center of stroke.
Note 2) Values excluding weight of auto switch.

Operating method or operation

Design precautions
Warning

1. The product is designed for use only in compressed air systems. Do not operate at pressures or temperatures, etc., beyond the range of specifications, as this can cause damage or malfunction. (Refer to the specifications.)
   Please contact SMC if using for fluids other than compressed air. We do not guarantee against any damage if the product is used outside of the specification.

2. Take safety measures (e.g. mounting protective covers) when workpieces pose a danger of fingers being caught in a gripper, etc.

3. There is a danger of workpieces dropping if there is a decrease in gripping force due to a drop in circuit pressure caused by a power failure, etc. It is necessary to take measures such as drop prevention so that injury and damage to machinery or euqipment can be prevented.

4. If the product is used for the purpose other than the transportation of a workpiece such as positioning or clamping, please consult SMC.

Selection

Warning

1. The gripping point should be set within the limited range. When the gripping point distance becomes large, the gripper attachment applies an excessively large load to the gripper sliding section, and causes adverse affects on the life of the gripper. Refer to the catalog for details.

2. Attachments should be designed to be as light and short as possible.

   • A long or heavy attachment increases the inertia force required to open or close the fingers. This may cause unsteady movement of fingers and have an adverse affect on the life of the gripper.
   • Design the attachment as short and light as possible even if the gripping point is within the limited range. Refer to the catalog for details.
   • Select a larger size gripper or used two or more grippers for handling a long and/or large workpiece.

3. Provide a run off space in the attachment when using with a small or thin workpiece. If a runoff space is not provided within the finger part, gripping becomes unsteady, and it may lead to gripping failure o slippage

4. Select a model whose gripping force is compatible with the workpiece mass.
   Incorrect selection may lead to the dropping of a workpiece, etc. Refer to the model selection criteria of each series for the effective gripping force and the workpiece mass.

5. Do not use the product in applications where excessive external force or impact force is applied. It may cause product failure. Please consult with SMC if necessary.

6. Select a model having a sufficient working finger opening/closing width.

   < In case of insufficient width >
   • Gripping becomes unsteady due to variations in opening/closing width or workpiece diameter.
   • When using an auto switch, the detection may not be reliable. Refer to the Auto Switch Hysteresis section and set the stroke including the hysteresis length for a reliable switch function. When using the water resistant 2-color indicator auto switch, the gripper stroke may be limited by the setting of the indicator color during detection.

7. Please consult with SMC regarding a single acting, spring force only grip type. In some cases, this can cause unstable gripping or return malfunction, due to faulty operation, etc.

Mounting

Warning

1. Install and operate the product only after reading the Operation Manual carefully and understanding its contents. Also, keep the manual where it can be referred to as necessary.

2. Allow sufficient space for maintenance and inspection.

3. Do not drop or hit the product when mounting to avoid scratches and dents. Even slight deformation can cause the deterioration of accuracy and operation failure.

4. Tighten the mounting screws of the attachment with the specified torque.
   Tightening the screws with a higher torque than the maximum may cause malfunction. In addition, tightening the screws with a lower torque can cause the displacement of the mounting position or in extreme conditions, detaching of the work piece.
   Mounting attachment to the finger
   The attachment should be mounted with the torque specified in the following table by screwing the bolt into the female mounting thread of the finger.

5. Tighten the screw within the specified torque range when mounting the air gripper. Tightening with a torque above the limit can cause malfunction, while insufficient tightening can cause slippage and dropping.

Mounting Gripper

Axial mounting（Body tapped）

Vertical mounting （Body tapped）

Side mounting （Body tapped）

Horizontal mounting （Body tapped）

Caution

1. Avoid twisting the gripper when mounting an attachment. Any damage to the gripper may cause malfunction and reduce the accuracy.

2. Avoid external force to fingers Fingers may be damaged by a continual lateral or impact load. Provide clearance to prevent the workpiece or the attachment from striking against any object at the stroke end.
   Stroke end when fingers are opened
   Stroke end when gripper is movingWhen turning over

3. Adjust the gripping point so that an excessive force will not be applied to the fingers when inserting a workpiece. Confirm that the gripper can operate without receiving any shock by testing it in manual

4. Control the opening/closing speed with the speed controller to avoid excessive high speed operation. If the finger opening/closing speed is greater than necessary, impact forces on the fingers and other parts will increase. This can cause a loss of repeatability when gripping a workpiece and have an adverse effect on the life of the gripper unit.
   Example of Using SMC’s Speed Controller

   • Air gripper mounted type: AS1211F-M3, AS1201F-M5, etc.
   • Piping type: AS1000 series, AS1002F, etc.

Air supply

Warning

1. Please contact SMC when using the product in applications other than with compressed air.
2. Compressed air containing a large amount of condensate can cause malfunction of pneumatic equipment. An air dryer or water droplet separator should be installed upstream from filters.
3. If condensate in the drain bowl is not emptied on a regular basis, the condensate will overflow and allow it to enter the compressed air lines. This will cause a malfunction of pneumatic equipment. If the drain bowl is difficult to check and remove, installation of a drain bowl with an auto drain option is recommended.
4. Use clean air.
   Do not use compressed air that contains chemicals, synthetic oils including organic solvents, salt or corrosive gases, etc., as it can cause damage or malfunction. For detailed information regarding the quality of the compressed air described above, refer to SMC’s “Air Cleaning Systems”.

Piping
Caution

1. Refer to the Fittings and Tubing Precautions (Best Pneumatics) for handling one touch fittings.
   Before piping
   Before piping is connected, flush thoroughly with air or wash to remove chips, cutting oil and other debris from inside the pipe.

Operating environment
Warning

1.  Do not use in an environment where corrosive gases, chemicals, sea water, water or steam are present.
   Refer to the construction drawings regarding the air chuck materials.

2. Do not use in direct sunlight.

3. Do not operate in a location subject to vibration or impact.

4. Do not mount the product in locations where it is exposed to radiant heat.

5.  Do not use this product in an area that is dusty, or in an environment in which water or oil splashes on the cylinder.

Lubrication
Caution

1. The non-lube type air gripper is lubricated at the factory, and can be used without any further lubrication. If a lubricant is used in the system, use turbine oil Class 1 (with no additive) ISO VG32. Furthermore, once lubrication is applied, it must be continued.
2. If lubrication is later stopped, malfunction can occur due to loss of the original lubricant.
3. Refer to the Material Safety Data Sheet (MSDS) of the hydraulic fluid when supplying the fluid.

Maintenance

Precautions
Warning

1.  Maintenance should be performed according to the procedure indicated in the Operation Manual. If handled improperly, malfunction and damage of machinery of equipment may occur.
2. If handled improperly, compressed air can be dangerous. Assembly, handling, repair and element replacement of pneumatic systems should be performed by a knowledgeable and experienced person.
3. Remove drainage moisture from air filters regularly.
4. When components are removed, first confirm that measures are in place to prevent any workpieces from dropping, run-away of equipment, etc. Then cut off the supply pressure and electric power, and exhaust all compressed air from the system using the residual pressure release function. Turn off the power supply, stop the air supply and exhaust all compressed air from the system.
5. Do not allow people to enter or place objects in the carrying path of the air gripper. This may cause an injury or accident.
6. Do not put hands, etc. in between the air gripper fingers or attachments. This may cause an injury or accident.
7. When removing the air gripper, first confirm that no workpieces are being held and then release the compressed air before removing the air gripper. If a workpiece is still being held, there is a danger of it being dropped.

Replacement of Dust Cover

Mounting of Dust Cover

1.  Put the dust cover on the finger.
2. Attach the dust cover to the groove of the finger.
3.  Push the bead of the dust cover into the hole in the body groove.
   Note: Be careful not to tear the dust cover during mounting or removal of the dust cover. Also, be careful not to twist the finger.

Construction / Parts list, seal list

MHZ2-6

Double acting/ Finger open

Single acting / Normal open

Single acting / Normal closed

Single acting / Normal closed

Components

9

|

Holder

|

Brass

| Electroless nicked plated
10| Holder lock| Stainless steel|
11| Cap| Aluminum alloy| Clear anodized
12| Bumper| Urethane rubber|
13| Magnet| －| Nickel plated
No.| Description| Material| Remarks
---|---|---|---

14

|

Steel ball

| High carbon chromium bearing steel|

Heat treatment

15

|

Needle roller

| High carbon chromium bearing steel|

Heat treatment

16| Type C retaining ring| Carbon steel| Phosphate coated
17| Exhaust plug| Brass| Electroless nickel plating
18| Exhaust filter| Polyvinyl formal|

19

|

N.O. spring

| Stainless steel wire for spring|

20

|

N.C. spring

| Stainless steel wire for spring|
21| Rod seal| NBR|
22| Piston seal| NBR|
23| Gasket| NBR|
24| Gasket| NBR|

MHZJ2-6

Double acting/ Finger open

Double acting/ Finger closed

Single acting / Normal open

Single acting / Normal closed

Components

9

|

Holder

|

Brass

| Electroless nicked plated
10| Holder lock| Stainless steel|
11| Cap| Aluminum alloy| Clear anodized
12| Bumper| Urethane rubber|
13| Magnet| －| Nickel plated

14

|

Steel ball

| High carbon chromium bearing steel|

Heat treatment

15

|

Needle roller

| High carbon chromium bearing steel|

Heat treatment

16

|

Dust cover

| CR| Chloroprene rubber
FKM| Fluororubber
Si| Silicone rubber
17| Type C retaining ring| Carbon steel| Nickel plating

18

|

Exhaust plug

|

Brass

| Electroless nickel plating
19| Exhaust filter| Polyvinyl formal|

20

|

N.O. spring

| Stainless steel wire for spring|

21

|

N.C. spring

| Stainless steel wire for spring|
22| Rod seal| NBR|
23| Piston seal| NBR|
24| Gasket| NBR|
25| Gasket| NBR|

MHZA2-6

Double acting/ Finger open

Double acting/ Finger closed

Single acting / Normal open

Single acting / Normal closed

8

|

Holder

|

Brass

| Electroless nicked plated
9| Holder lock| Stainless steel|
10| Cap| Aluminum alloy| Clear anodized
11| Bumper| Urethane rubber|

12

|

Steel ball

| High carbon chromium bearing steel|

Heat treatment

13

|

Needle roller

| High carbon chromium bearing steel|

Heat treatment

15

|

Exhaust plug

|

Brass

| Electroless nickel plating
16| Exhaust filter| Polyvinyl formal|

17

|

N.O. spring

| Stainless steel wire for spring|

18

|

N.C. spring

| Stainless steel wire for spring|

19

|

N.C. holder

|

Brass

| Electroless nickel plating
20| N.C. spacer| Stainless steel|
21| Rod seal| NBR|
22| Piston seal| NBR|
23| Gasket| NBR|
24| Gasket| NBR|

MHZAJ2-6

Double acting/ Finger open

Double acting/ Finger closed

Single acting / Normal open

Single acting / Normal closed

8

|

Holder

|

Brass

| Electroless nicked plated
9| Holder lock| Stainless steel|
10| Cap| Aluminum alloy| Clear anodized
11| Bumper| Urethane rubber|

12

|

Steel ball

| High carbon chromium bearing steel|

Heat treatment

13

|

Needle roller

| High carbon chromium bearing steel|

Heat treatment

14

|

Dust cover

| CR| Chloroprene rubber
FKM| Fluororubber
Si| Silicone rubber
15| Type C retaining ring| Carbon steel| Nickel plating

16

|

Exhaust plug

|

Brass

| Electroless nickel plating
17| Exhaust filter| Polyvinyl formal|

18

|

N.O. spring

| Stainless steel wire for spring|

19

|

N.C. spring

| Stainless steel wire for spring|

20

|

N.C. holder

|

Brass

| Electroless nickel plating
21| N.C. spacer| Stainless steel|
22| Rod seal| NBR|
23| Piston seal| NBR|
24| Gasket| NBR|
25| Gasket| NBR|

SMC Corporation
4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN
Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
URL https://www.smcworld.com

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