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No.000271 Gripper mechanism with detection sensor

A sensor is built into the gripper claw.

Related Category

Air Gripper

Product name Air Gripper/Parallel Type
Part number ACHK6-D
Features Compact Type Pneumatic Grippers with high precision, high rigidity, strong retaining force
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Select size based on the workpiece size and weight

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Available sizes

■Air Gripper - Parallel Type -

Part Name Material Surface Treatment
Main Body EN AW-5056 Equiv. Clear Anodize
Finger / Attachment Mounting Part EN 1.1191 Equiv. Nitriding Treatment

■Sizes and Dimensions

Stroke Single Acting Bi-directional I.D. of Cylinder Overall Length Overall Width Thickness
4 8 40.5 20 10
6 12 45 23 16.4

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Selection steps

■Selection Procedure for Compact Parallel Grippers

(1) Confirmation of Workpiece
Confirm the necessary open/close stroke and weight for the size of workpiece.
(2) Calculation of Required Gripping Force
The required gripping force should be 10 to 20 times the workpiece weight.
(This may vary depending on the friction coefficient and shape of claw and workpiece.)
(3) Selection of Models
The gripping forces may very depending on the gripping method (external/internal grip), gripping point distance and operating pressure .

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Performance info.

■Speeds / Loads (Load info.) of Compact Parallel Grippers

I.D. of Cylinder Effective Gripping Force (N)
Single Acting Bi-directional
8 4.2 4.9
12 10.4 12.2

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Attachments for Air Grippers

Product name Attachments for Air Grippers
Part number ACHAT6
* Orange colored cells in the table below indicate the part numbers used in this example.

Selection criteria

Select necessary attachment for pneumatic grippers

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Available sizes

■Attachments for Air Grippers

Type Material Surface Treatment Accessory
Dimensions Fixed EN 1.1191 Equiv. Tufftride Hex Socket Head Cap Screw: 2 pcs.,
Locating Pin: 1 pc.
Dimension Specifying Electroless Nickel Plating

■Sizes and Dimensions

Nominal Claw Length Inter Claw Dimension during Gripping Gripping Stroke Cross Sectional Dimension of Claw
4 11 8.6 1.7 4 x 4
6 13 7.4 2.7 5.2 x 5

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IDEA NOTE How to detect the workpiece.

Embed a sensor in the gripper finger to detect the workpiece.

  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
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    Click the Good IDEA! button when this application example is helpful.


    This data is utilized in order to list more useful application examples in the future.

    Cautions on the CAD data

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be edited.
    3. * The part in the frame is a sub-assembly unit.

    4. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    5. The Data including the third-part components are made by the Company.

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  • * Unit assembly CAD data consists of some sub-assemblies.
       Each sub-assembly unit can be used as it is or can be edited.

Application Overview

Purpose

  • A sensor is built into the tip of the gripper to enhance workpiece detection.
  • Often used in cases where the pallet is missing workpieces.

Points for use

  • Sensor can detect when a workpiece is missing and move the next workpiece.

Target workpiece

  • Plastic case.
  • External Dimensions: Ø12 x H5mm
  • Workpiece weight: 0.02kg

Design Specifications

Operating Conditions or Design Requirements

  • External dimensions: D Ø56 x H88mm

Selection Criteria for Main Components

  • Parallel grippers
    • Select a gripper with the necessary gripping strength. Make sure to take into consideration the stroke of the gripper.
  • Sensor
    • Select a side view fiber sensor to detect the presence of the workpiece.

Design Evaluation

Verification of main components

  • Parallel grippers
    • Gripping force of parallel grippers: 11N (at pressure of 0.4Mpa, and gripping point of 30mm, from the graph in catalogue)
    • Safety factor: 10
    • Workpiece weight: 0.02kg
      = 0.02 x 9.8 x 10 
      = 1.96N < 11N 
       Thus, the condition holds.

Other Design Consideration

  • To reduce the weight at the extremities of the robot, light weight metals like aluminum are used.

Explore Similar Application Examples

Page - / -

Part List

No. Part Name Sample picture MISUMI Part Number
For Price and Days to ship click on Part No.
Quantity
1 Air Gripper Parallel Type ACHK6-D 1
2 Attachment For Air Gripper ACHAT6 1
3 Flow Rate Control Valves MNSPS4-M3 2
4 Set Screws Dimple MSSU3-3 2
5 Dowel Pins MSCSS2-12 1
  • The part list above contains only MISUMI parts.
    The list of parts and machined products of other manufacturers than MISUMI can also be downloaded by part list download (CSV).
  • You will find information on price and shipping days, in the Online Quote and Order System.
  • TERMS AND CONDITIONS FOR USE OF CAD DATA
    Your access to the CAD data that MISUMI Corporation (hereinafter referred to as the Company) posts on this site (including 3D CAD data, intermediate 3D CAD data and 2D CAD data; hereinafter referred to as the Data) are of products manufactured and/or sold by the Company (hereinafter referred to as the Products) assumes that you have read and accepted these terms and conditions which govern your use of the Data. If you do not agree to these terms and conditions, you must stop using this website and the Data. You must not use the Data for any unlawful purpose or in any manner inconsistent with these terms and conditions.
    1. CAD Data
    The Data is prepared for assisting the Company's users in the CAD design process by providing dimensions and other Product information. In order to provide the best speed and stability working within this site, the Product drawings were simplified to reduce the size of the Data. For instance, some of the Products are shown without the oil groove shape, screws or spring shape. Also, please be aware that the tolerance, surface roughness and/or chamfer of the Data may vary from the actual Products.
    2. Disclaimer on Data
    While the Company has carefully prepared the Data, accuracy of the Data is not guaranteed and is subject to the variances as described above. The Company may also modify, add or delete the Data at any time without prior notice. The Company assumes no liability for any direct, indirect, consequential or special damages that you may claim resulted from your use of the Data or any changes to or deletions of the Data regardless of the reason. The Company provides no warranty as to the quality, accuracy, functionality, safety or reliability of the combination of Products and parts. Example applications and combinations of the Products are provided for illustrative purposes only.
    3. Copyright
    Copyrights to the content and the Data belong to the Company or the manufacturers of the Products. The said copyright is protected by the Copyright Act and international treaties. The use (including duplication, modification, uploading, posting, transmission, distribution, licensing, sales and publishing) of the Data except for the purpose to use the Data described above without prior approval of the Company is not allowed. The Data cannot be used for any purposes (including sales promotion) except for designing your machine. If you violate this provision or the laws or regulations, the Company may prohibit you from the use of the Data, the Company’s site and/or take legal action. So long as you comply with these terms and conditions, the Company grants to you a non-exclusive, non-transferable, revocable license to access and use the Data for the sole purpose of assisting you in designing machines that incorporate products.
    4. Disclaimer of Warranty
    ANY AND ALL CONTENT APPEARING ON THIS WEB SITE IS PROVIDED FOR INFORMATIONAL PURPOSES ONLY. THIS WEB SITE, ITS CONTENT AND ITS LINKS ARE PROVIDED ON AN "AS IS" AND "AS AVAILABLE" BASIS AND ARE USED ONLY AT YOUR SOLE RISK, TO THE FULLEST EXTENT PERMISSIBLE BY LAW. THE COMPANY DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, OF ANY KIND, REGARDING THIS WEB SITE (INCLUDING ITS CONTENT, HARDWARE, SOFTWARE AND LINKS), INCLUDING AS TO FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, TITLE, NON INFRINGEMENT, RESULTS, ACCURACY, COMPLETENESS, ACCESSIBILITY, COMPATIBILITY, SECURITY AND FREEDOM FROM COMPUTER VIRUS. THE COMPANY WILL NOT BE LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING DIRECT, INDIRECT, CONSEQUENTIAL, SPECIAL, INCIDENTAL OR PUNITIVE DAMAGES AND/OR LOST PROFITS, IN CONNECTION WITH USE OF THE INTERNET, THIS WEB SITE, ITS CONTENT OR ITS LINKS
    Further, the Company will not be liable to you for any failure or delay by the Company to provide access to the Data or any of its obligations under these terms and conditions where such failure or delay is the direct or indirect result of any circumstances beyond the Company's reasonable control (and the Company's obligations will be suspended for the duration of such circumstances).
    5. Policy of Third Parties
    You may be required to separately agree to third party's policies if you use third party software to create or browse the Data or use a third party’s CAD data. In this case, the Company does not assume any responsibility for defects of such CAD data or the software of the third party or violation of their rights. Understand them before use.

    CAD Data Download (Unit Assembly)

    CAD Data Download: File Format
    生成

    Thank you for downloading the data.

    Click the Good IDEA! button when this application example is helpful.


    This data is utilized in order to list more useful application examples in the future.

    Cautions on the CAD data

    1. Assembly data shows the assembly drawings in the concept design phase. The sole purpose of the data is to explain the structure and functionality of the assembly and is not considered nor to be used as a final design.
      You will need to edit the Data so that it meets your specific design conditions.
    2. The CAD data unit assembly consists of sub-assemblies.
      Each sub-assembly unit can be used as it is or can be edited.
    3. * The part in the frame is a sub-assembly unit.

    4. The Data for fabricated parts is based on easy-to-edit dimensions and shapes in sketches and histories.
    5. The Data including the third-part components are made by the Company.

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