P0442-P0518-E.qxd 08.9.

29 3:21 PM Page 489

Rotary Actuated Air Gripper

MHR2, MDHR2/MHR3, MDHR3
2-finger type 3-finger type

High Precision - Repeatability ±0.01 mm

Parallel opening and closing mechanism utilizing a cross roller guide produces
smooth operation without play, with high precision and long life.

Low Profile
Using rotary actuators in the part of actuating portion
enables a design compact.

Ball bearing
Rotary actuator

MHZ
MHF
Universal mounting MHL
Axial side mounting Vertical side mounting
Lateral side mounting
MHR
MHK
Guide holder MHS
Ball bearing
Cross roller guide
MHC
MHT
MDHR2 MDHR3 MHY
MHW
Possible to mount solid state switch with -X
indicator light D-M9. Easy to locate
switch to optimum set point. MRHQ
MA
D-

489
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 490

High rigidity
Fingers operate smoothly as the
holder maintains the guide
from the outside and prevents
finger displacement.

Applicable for Clean

Series.
Refer to “Pneumatic Clean Series” Internal/External
catalog for details.
gripping capability

Connection port on 2 sides

Port Port

(Nominal size) Auto

Series Variations 10 15 20 30 switch

2-finger MHR2 P. 491

to
type
MDHR2 P. 503
Rotary actuated
air gripper
MHR3 P. 504
3-finger to
type P. 511
MDHR3
11-
2-finger 22- MHR2
type 11- Refer to the
Clean Series 22- MDHR2 “Pneumatic
Rotary actuated
11- Clean Series”
air gripper 22- MHR3 catalog.
3-finger
type 11-
22- MDHR3
490
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Rotary Actuated Air Gripper/2-Finger Type

Series MHR2/MDHR2
Size: 10, 15, 20, 30

How to Order

Without auto switch MHR 2 10 R

With auto switch

(Built-in magnet) MDHR 2 10 R M9N S
Made to Order
With magnet Refer to page 492 for details.
(For auto switch)
Number of auto switches
Number of fingers Nil 2 pcs.
2 2 fingers S 1 pc.

Nominal size
10
15
20
30
MHZ
Connecting port
MHF
R: Body side E: Axial side
Port Port
MHL
MHR
MHK
MHS
MHC
MHT
Applicable Auto Switch/Refer to pages 761 to 809 for further information on auto switches.
Auto switch model Lead wire length (m)∗ MHY
Load voltage Pre-wired Applicable
Type Special Electrical Indicator Wiring Electrical entry direction 0.5 1 3 5 connector
function entry light (Output) load
(Nil) (M) (L) (Z)
3-wire
DC AC Perpendicular In-line
MHW
Solid state switch

(NPN) M9NV M9N IC

3-wire 5V,12V Relay,
— Grommet Yes (PNP) 24V — M9PV M9P circuit
PLC -X
2-wire 12V M9BV M9B —
∗ Lead wire length symbols: 0.5 m
1m
······ Nil
······ M
(Example) M9N
(Example) M9NM
∗ Solid state auto switches marked with a “ ” symbol are produced upon receipt of order. MRHQ
3m ······ L (Example) M9NL
5m ······ Z (Example) M9NZ
MA
D-

491
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 492

Series MHR2/MDHR2
Model/Specifications
Nominal size 10 15 20 30
Action Double acting
Gripping force (N) (1) External grip 12 24 33 58
(Effective value)
at 0.5 MPa Internal grip 12 25 34 59
Finger closing
width (mm) 10 14 16 19
Opening/
Finger opening
Closing stroke width (mm) 16 22 28 37
(Both sides)
Stroke (mm) 6 8 12 18
Mass (g) (2) 100 (95) 180 (175) 390 (380) 760 (740)
Connection port M3 X 0.5 M5 X 0.8
Repeatability
Fluid Air

Operating pressure 0.2 to 0.6 MPa 0.15 to 0.6 MPa

JIS Symbol Ambient and fluid temperature

Max. operating frequency 180 c.p.m

Lubrication Non-lube
Note 1) Refer to page 494 “Effective Gripping Force” for details of Gripping force at each
gripping point. Value of effective gripping force is measured at the middle of
opening/closing stroke.
Note 2) ( ) Value shows MDHR mass, but it does not include auto switch mass.

When the finger opening/closing speed is set as the total stroke of 0.2 seconds or more, it may cause the
product to stick or completely stop its movement.

Made to Order
(Refer to pages 683 to 713 for details.)

Symbol Specifications/Description
-X32 Countermeasure for condensation
-X63 Fluorine grease

492
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Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2
Gripping Point

• Workpiece gripping point should be within the Limitation of Gripping: External Grip/Internal Grip
gripping point range: The range shown for
each operating pressure given in the graphs to
the right. MHR2-10/MDHR2-10 MHR2-20/MDHR2-20
• When the gripping point distance becomes 50 60
large, the finger attachment applies an

Overhang distance H (mm)

Overhang distance H (mm)

excessively large load to the finger sliding
50
section, causing excessive play of the fingers 40
Pr Pr
and possibly leading to premature failure. es es
su su
40 re
re
30 0.
External grip 0.
2 2
M
M 30 0. Pa
0. Pa 3
3 M
20 M 0. Pa
0. Pa 4
4 20 0. M
M 5 Pa
0. Pa M
5 0. Pa
10 0. M 6
6 Pa 10 M
M Pa
Pa

0 0
10 20 30 40 50 10 20 30 40 50 60
Gripping point L (mm) Gripping point L (mm)

MHR2-15/MDHR2-15 MHR2-30/MDHR2-30
50 80
H

70
Overhang distance H (mm)

Overhang distance H (mm)

40 Pr Pr
es 60 es
L su su
Gripping point re re
0.2 50 0.2
30 MP
L: Distance to the gripping point MP a
a 40 0.
H: Overhang distance 0.3 3
MP M
20 0. Pa
0. a 30 4
4 M
0. M 0. Pa
5 Pa 5
20 M
Internal grip 10 0.
6
M
Pa 0.
6 Pa
M M
Pa 10 Pa

0 0
10 20 30 40 50 10 20 30 40 50 60 70 80
Gripping point L (mm) Gripping point L (mm)
MHZ
MHF
MHL
MHR
H

Gripping point
MHK
L

MHS
MHC
MHT
MHY
MHW
-X
MRHQ
MA
D-

493
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Series MHR2/MDHR2
Effective Gripping Force

Guidelines for the selection of the gripper External Grip Internal Grip
with respect to component mass
• Although conditions differ according to the
workpiece shape and the coefficient of friction MHR2-10/MDHR2-10 MHR2-10/MDHR2-10
between the attachments and the workpiece,
select a model that can provide a gripping 20 20
force of 10 to 20 times the workpiece mass, or
more.
• If high acceleration, deceleration or impact Pressure

Gripping force (N)

Gripping force (N)

Pressure 0.6 MPa
forces are encountered during motion a 15 0.6 MPa 15
further margin of safety should be considered.
0.5 MPa
External grip 0.5 MPa
10 10
0.4 MPa 0.4 MPa

0.3 MPa 0.3 MPa

5 5
0.2 MPa 0.2 MPa

0 0
10 20 30 40 50 10 20 30 40 50
L

Gripping point L (mm) Gripping point L (mm)

MHR2-15/MDHR2-15 MHR2-15/MDHR2-15
30 30 Pressure 0.6 MPa
Internal grip Pressure 0.6 MPa
0.5 MPa
Gripping force (N)

Gripping force (N)

0.5 MPa

20 20 0.4 MPa
0.4 MPa

0.3 MPa
0.3 MPa

10 10
L

0.2 MPa 0.2 MPa

0 0
10 20 30 40 50 10 20 30 40 50
L: Gripping point length (mm)
Gripping point L (mm) Gripping point L (mm)

MHR2-20/MDHR2-20 MHR2-20/MDHR2-20
• Indication of effective gripping force
The effective gripping force shown in the 50 50
graphs to the right is expressed as F, which is Pressure 0.6 MPa Pressure 0.6 MPa
the thrust of one finger, when both fingers and
40 40
Gripping force (N)

Gripping force (N)

attachments are in full contact with the

workpiece as shown in the figure below. 0.5 MPa 0.5 MPa

30 30
0.4 MPa 0.4 MPa

20 0.3 MPa 20 0.3 MPa

0.2 MPa 0.2 MPa

10 10

0 0
10 20 30 40 50 60 70 10 20 30 40 50 60 70
Gripping point L (mm) Gripping point L (mm)

MHR2-30/MDHR2-30 MHR2-30/MDHR2-30
F F 80 80
Pressure 0.6 MPa
Pressure 0.6 MPa
70 70
0.5 MPa
Gripping force (N)

Gripping force (N)

60 0.5 MPa 60

50 0.4 MPa 50 0.4 MPa

40 40
0.3 MPa 0.3 MPa
30 30
0.2 MPa 0.2 MPa
20 20

10 10

0 0
10 30 50 70 90 10 30 50 70 90
Gripping point L (mm) Gripping point L (mm)

494
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Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2
Construction
MHR2
q !4
!3 o

@0
!1 !9

!2 r
w e
i

!5 !0

u t
y
MDHR2
q !4 !3
!2 o @0
w !9 !1

i !8 !6
e i !7
!5 r

u !0 y
t

MHZ
Component Parts Component Parts
No. Description Material Note No. Description Material Note
MHF
1 Body Aluminum alloy Hard anodized 11 Stopper Resin
2 Adaptor body Aluminum alloy Hard anodized 12 Back-up ring Stainless steel plate
MHL
3 Guide holder Stainless steel 13 Hexagon socket head bolt Stainless steel
4 Cam Cold rolled steel Nitriding 14 Bearing High carbon chrome bearing steel
MHR
5 Finger assembly Stainless steel Heat treated 15 Cylindrical roller —
6 Guide Stainless steel Heat treated 16 Magnet Stainless steel
MHK
Heat treated 17 Magnet holder Aluminum alloy Hard anodized
7 Pin Carbon steel
Electroless nickel plated 18 Roller Stainless steel
MHS
8 Pin roller Stainless steel Nitriding 19 O-ring NBR
9 Vane shaft Stainless steel, NBR MHR2-30 is carbon steel NBR 20 Stopper seal NBR
MHC
10 Joint bolt Chrome molybdenum steel Zinc chromated
MHT
MHY
MHW
-X
MRHQ
MA
D-

495
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 496

Series MHR2/MDHR2
Nominal Size 10
Without auto switch : MHR2-10R

3 x M3 x 0.5 thread depth 6

P.C.D.24 (Mounting thread)

33.4 MHR2-10E Port Location

32

6
ø3

8.5
0
12

120

9.5
32

A C M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

25 25
M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

+0.02
3 x ø3 0 depth 6
(A, B, C common view)

6 x M3 x 0.5 thread depth 6

(A, B, C common view)
ø29
0
ø9h9 – 0.036
1
5

15

10
(35)
32

14.5
2

8 – 00.05
0 0
ø3 – 0.02 ø3 – 0.02

Open: 16 Closed: 10

2 x M3 x 0.5 thread depth 6

(Thread for mounting attachment)
12 12

4 4 4 4

496
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Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2

With auto switch (Built-in magnet) : MDHR2-10R

3 x M3 x 0.5 thread depth 6

P.C.D.24 (Mounting thread)

33.4
MDHR2-10E Port Location
32

6
ø3

8.5
0
12

120

9.5
32

A C M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

25 25
+0.02
M3 x 0.5 M3 x 0.5 3 x ø3 0 depth 6
Finger closing port Finger opening port (A, B, C common view)

6 x M3 x 0.5 thread depth 6

(A, B, C common view)

MHZ
Auto switch mounting groove
ø29
MHF
ø9h9 – 00.036
ø4.2

MHL
9.6
4.7

2x
1

MHR
3
2x3

10
MHK
(35)
32

MHS
8
4.7

15.5

MHC
13.4
2
2

0
8 – 0.05
MHT
ø3 – 00.02 ø3 – 00.02
Open: 16 Closed: 10
MHY
Dimensional Differences between MHR and MDHR
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
The following dimensions are different between series MHR and MHW
MDHR. And also, body shapes are different depending on auto
switch mounting groove.
-X
A

12 12 MRHQ
MA
B

D-

Model A B
-10R 5 14.5
MHR2
-10E 14.5
-10R 4.7 15.5
MDHR2
-10E 15.5
4 4 4 4

497
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 498

Series MHR2/MDHR2
Nominal Size 15
Without auto switch : MHR2-15R
3 x M3 x 0.5 thread depth 6
P.C.D.29 (Mounting thread)

44
42

B
MHR2-15E Port Location

5
ø4
0
12

120

11
36
A C

M3 x 0.5 M3 x 0.5
Finger closing port 10 Finger opening port

M3 x 0.5 M3 x 0.5
25 25
Finger closing port Finger opening port

6 x M3 x 0.5 thread depth 6

(A, B, C common view)

+0.02
3 x ø3 0 depth 6
ø34 (A, B, C common view)
ø12h9 – 00.043
1.5
5
19.5

12
41.5

(45)

17
2

8 – 00.05
0 0
ø3.5 – 0.03 ø3.5 – 0.03
Open: 22 Closed: 14

2 x M3 x 0.5 thread depth 6

(Thread for mounting attachment)

15 15

6 5 5 6

498
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 499

Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2

With auto switch (Built-in magnet) : MDHR2-15R

3 x M3 x 0.5 thread depth 6

P.C.D.29 (Mounting thread)

44

42 MDHR2-15E Port Location

B

5
ø4
0
12

11
120

36

A C
M3 x 0.5 M3 x 0.5
Finger closing port 10 Finger opening port

M3 x 0.5 M3 x 0.5
Finger closing port 25 25 Finger opening port

6 x M3 x 0.5 thread depth 6

(A, B, C common view)

+0.02
3 x ø3 0 depth 6
ø34 (A, B, C common view)
ø12h9 – 00.043 MHZ
Auto switch mounting groove
MHF
1.5
5

MHL
15.7

3.5
2x3

12 MHR
41.5
(45)

MHK
4.7

8
ø4.2

17

MHS
2x

15.5
2
2

8 – 00.05
MHC
0 0
ø3.5 – 0.03 ø3.5 – 0.03
Open: 22 Closed: 14 MHT
MHY
2 x M3 x 0.5 thread depth 6
(Thread for mounting attachment)
MHW

15 15
-X
MRHQ
MA
D-

6 5 5 6

499
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Series MHR2/MDHR2
Nominal Size 20
Without auto switch : MHR2-20R

57

54

3 x M4 x 0.7 thread depth 8

B P.C.D.36 (Mounting thread) MHR2-20E Port Location
0
ø6
0
12

14
120

45
A C M5 x 0.8 M5 x 0.8
13
Finger closing port Finger opening port

M5 x 0.8 M5 x 0.8 6 x M4 x 0.7 thread depth 8

Finger closing port Finger opening port (A, B, C common view)
25 25
+0.02
3 x ø4 0 depth 8
(A, B, C common view)
ø42
ø14h9 – 00.043
1.5
9
28.5

18
55.5

(60)

10

21
2

10 – 00.05
3

ø4 – 00.03 ø4 – 00.03
Open: 28 Closed: 16

2 x M4 x 0.7 thread depth 8

(Thread for mounting attachment)

18.5 18.5

7 7

5.5 5.5
500
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 501

Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2

With auto switch (Built-in magnet) : MDHR2-20R

57

54

3 x M4 x 0.7 thread depth 8 MDHR2-20E Port Location

B
P.C.D.36 (Mounting thread)

0
ø6

14
0
12

120

M5 x 0.8 13 M5 x 0.8
45

A C Finger closing port Finger opening port

M5 x 0.8 M5 x 0.8
Finger closing port Finger opening port
25 25

6 x M4 x 0.7 thread depth 8

(A, B, C common view)
ø42 Auto switch mounting groove
ø14h9 – 00.043
+0.02
3 x ø4 0 depth 8
MHZ
(A, B, C common view)
MHF
1.5

MHL
9
24.6

MHR
3.4

18
2x3
55.5
(60)

MHK
MHS
4.7

10
ø4.2

21

MHC
2x
2

20 MHT
3

0
ø4 0
– 0.03 ø4 0
– 0.03 10 – 0.05

Open: 28 Closed: 16 MHY

2 x M4 x 0.7 thread depth 8

MHW
(Thread for mounting attachment)
-X
18.5 18.5

MRHQ
MA
D-

7 7
5.5 5.5
501
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Series MHR2/MDHR2
Nominal Size 30
Without auto switch : MHR2-30R

76

73

B
3 x M5 x 0.8 thread depth 10 MHR2-30E Port Location
P.C.D.43 (Mounting thread)

0
ø8
0
12

15.5
120

54
A C
M5 x 0.8 14 M5 x 0.8
Finger closing port Finger opening port

M5 x 0.8 M5 x 0.8
Finger closing port Finger opening port

25 25
6 x M5 x 0.8 thread depth 10
(A, B, C common view)
ø50 +0.02
3 x ø5 0 depth 10
ø16h9 – 00.043 (A, B, C common view)
2
10

38.5

22
(76)
70

11

25
2

12 – 00.05
4

ø5 – 00.03 ø5 – 00.03
Open: 37 Closed: 19

2 x M5 x 0.8 thread depth 10

(Thread for mounting attachment)

25 25

10 7 7 10

502
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 503

Rotary Actuated Air Gripper

2-Finger Type Series MHR2/MDHR2

With auto switch (Built-in magnet) : MDHR2-30R

76

73

B
3 x M5 x 0.8 thread depth 10
MDHR2-30E Port Location
P.C.D.43 (Mounting thread)

0
ø8
0
12

15.5
120

54
A C
M5 x 0.8 14 M5 x 0.8
Finger closing port Finger opening port

M5 x 0.8 M5 x 0.8
Finger closing port Finger opening port

25 25

6 x M5 x 0.8 thread depth 10

(A, B, C common view)

ø50 +0.02
3 x ø5 0 depth 10
ø16h9 – 00.043 (A, B, C common view)
Auto switch mounting groove
MHZ
2

MHF
10

MHL
35.8

MHR
3.8

22
2x3
(76)
70

MHK
4.7

11.5

MHS
ø4.2

25.5
2x

MHC
2

24.5 MHT
4

ø5 – 00.03 ø5 – 00.03 0
12 – 0.05
Open: 37 Closed: 19
MHY
2 x M5 x 0.8 thread depth 10
(Thread for mounting attachment)
MHW
Dimensional Differences between MHR and MDHR
25 25
The following dimensions are different between series MHR and -X
MDHR. And also, body shapes are different depending on auto
switch mounting groove.
MRHQ
MA
D-

Model B
B

MHR2-30 25
MDHR2-30 25.5

10 7 7 10

503
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 504

Rotary Actuated Air Gripper/3-Finger Type

Series
Size: 10, 15
MHR3/MDHR3
How to Order
Connecting port
R Body side
Without auto switch MHR 3 10 R R: Body side
Port

With auto switch

(Built-in magnet) MDHR 3 10 R M9N S
With magnet
(For auto switch) Made to Order
Refer to page 505 for details.
Number of fingers
3 3 fingers Number of auto switches
NIL 2 pcs.
Nominal size S 1 pc.

10
15

Connecting port
R: Body side E: Axial side
Port Port

Applicable Auto Switch/Refer to pages 761 to 809 for further information on auto switches.
Auto switch model Lead wire length (m)∗
Wiring Load voltage
Type
Special Electrical Indicator Electrical entry direction 0.5 1 3 5 Pre-wired Applicable
function entry light (Output) connector load
DC AC Perpendicular In-line (Nil) (M) (L) (Z)
Solid state

3-wire(NPN) M9NV M9N IC

switch

5V, 12V
— Grommet Yes 3-wire(PNP) 24V — M9PV M9P circuit Relay,
PLC
2-wire 12V M9BV M9B —
∗ Lead wire length symbols: 0.5 m········· Nil (Example) M9N ∗ Solid state auto switches marked with a “ ” symbol are produced
1 m········· M (Example) M9NM upon receipt of order.
3 m········· L (Example) M9NL
5 m········· Z (Example) M9NZ

504
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Rotary Actuated Air Gripper

3-Finger Type Series MHR3/MDHR3

Model/Specifications
Nominal size 10 15
Action Double acting

Holding force (N) (Effective value) (1) External grip 7 13

at 0.5 MPa Internal grip 6.5 12
Finger closing width
(mm) 16 19
Opening/Closing stroke Finger opening width
(Diameter) (mm) 22 27
Stroke
(mm) 6 8
Mass (g) (2) 120 (125) 225 (230)
Connection port M3 x 0.5
Repeatability ± 0.01 mm

Fluid Air

Operating pressure 0.2 to 0.6 MPa 0.15 to 0.6 MPa

JIS Symbol Ambient and fluid temperature 0 to 60

Max. operating frequency 180 c.p.m
Lubrication Non-lube
Note 1) Refer to page 506 “Effective Gripping Force” for details of gripping force at each
gripping point.
Valve of effective gripping force is measured at the middle of opening/closing stroke.
Note 2) ( ) Value shows MDHR mass, but it does not include auto switch mass.

When the finger opening/closing speed is set as the total stroke of 0.2 seconds or more, it may cause
the product to stick or completely stop its movement.

Made to Order
Refer to page 683 to 713 for details.

Symbol Specifications/Description
-X32 Countermeasure for condensation MHZ
-X63 Fluorine grease
MHF
MHL
MHR
MHK
MHS
MHC
MHT
MHY
MHW
-X
MRHQ
MA
D-

505
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 506

Series MHR3/MDHR3

Gripping Point

Limitation of Gripping: External Grip/Internal Grip

External grip • Workpiece gripping point should be within the • When the gripping point distance becomes
gripping point range: L shown below, by large, the finger attachment applies an
operating pressure. excessively large load to the finger sliding
section, causing excessive play of the fingers
and possibly leading to premature failure.
MHR3-10R/MDHR3-10 MHR3-15R/MDHR3-15
0.6
L

0.6

Pressure ( MPa)
Pressure ( MPa)
0.5
0.5
Gripping point
0.4
L: Distance to the gripping point
0.4
Internal grip 0.3
0.3
0.2
0.2 0.15
0 10 20 30 40 50 0 10 20 30 40 50

Gripping point L (mm) Gripping point L (mm)

L

Gripping point

Effective Gripping Force

Guidelines for the selection of the gripper
with respect to component mass
• Selection of the correct model depends upon
External Grip Internal Grip
the component mass, the coefficient of friction
between the finger attachment and the
component, and their respective MHR3-10R/MDHR3-10 MHR3-10R/MDHR3-10
configurations. A model should be selected
with a gripping force of 7 to 14 times that of the
component weight. 10 10
• If high acceleration, deceleration or impact
forces are encountered during motion, a further Pressure 0.6 MPa
margin of safety should be considered. Pressure 0.6 MPa
Gripping force (N)

8 8
Gripping force (N)

0.5 MPa
External grip 0.5 MPa
6 6
0.4 MPa
0.4 MPa

4 0.3 MPa 4
0.3 MPa

0.2 MPa
2 2 0.2 MPa
L

0 0
10 20 30 40 50 10 20 30 40 50

Gripping point L (mm) Gripping point L (mm)

Internal grip
MHR3-15R/MDHR3-15 MHR3-15R/MDHR3-15
20 20

Pressure 0.6 MPa

Pressure 0.6 MPa
Gripping force (N)

Gripping force (N)

15 15
L

0.5 MPa
0.5 MPa

10 0.4 MPa 10 0.4 MPa

L: Gripping point length (mm)
0.3 MPa 0.3 MPa
•Indication of effective 5 5
gripping force 0.2 MPa 0.2 MPa
The effective gripping
force shown in the
graphs to the right is 0 0
10 20 30 40 50 10 20 30 40 50
expressed as F, which
is the thrust of one F1 Gripping point L (mm) Gripping point L (mm)
finger, when three
fingers and F1
attachments are in full
contact with the F1
workpiece as shown in
the figure to the right.
506
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Rotary Actuated Air Gripper

3-Finger Type Series MHR3/MDHR3

Construction

q !4

!3 o

@1 @0
!1 !0
!2 r
w
u
e

!5

!9 y u t
MDHR3 !4 !3
q !1
@0 @1
w o
e i

!5

r !7 !6 t !0 !8 !2 i !9 y u
MHZ
Component Parts
No. Description Material Note No. Description Material Note
MHF
1 Body Aluminum alloy Hard anodized 12 Back-up ring Stainless steel plate
2 Adaptor body Aluminum alloy Hard anodized Hexagon socket
MHL
13 Stainless steel
3 Guide holder Stainless steel head bolt
4 Cam Cold rolled steel Nitriding 14 Bearing High carbon chrome bearing steel
MHR
5 Finger assembly Stainless steel Heat treated 15 Cylindrical roller Stainless steel
6 Guide Stainless steel Heat treated 16 Magnet —
MHK
Heat treated 17 Magnet holder Aluminum alloy Hard anodized
7 Pin Carbon steel
Electroless nickel plated 18 Roller Stainless steel
MHS
8 Pin roller Stainless steel Nitriding 19 Cover Aluminum alloy Hard anodized
9 Vane shaft Stainless steel, NBR 20 O-ring NBR
MHC
10 Joint bolt Chrome molybdenum steel Zinc chromated 21 Stopper seal NBR
11 Stopper Resin
MHT
MHY
Replacement Parts
MHW
Description MHR3-10 MHR3-15 Main parts
Cover P3313128 P3313228 !9 -X
MRHQ
MA
D-

507
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Series MHR3/MDHR3

Nominal Size 10
Without auto switch: MHR3-10R

3 x M3 x 0.5 thread depth 6

P.C.D.24 (Mounting thread)

M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

ø44

ø29
0
ø9h9 –0.036
1
5

16

(36.5)
33.5
2

–0.014
ø3e8 –0.028
Open: 11 Closed: 8

0
8 –0.05
12
4 4

3 x M3 x 0.5 thread depth 6

(Thread for mounting attachment)

508
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Rotary Actuated Air Gripper

3-Finger Type Series MHR3/MDHR3

With auto switch (Built-in magnet): MDHR3-10R

A
3 x M3 x 0.5 thread depth 6
P.C.D.24 (Mounting thread)
17.5 20
MDHR3-10E Port Location
40

8.5
M3 x 0.5 M3 x 0.5
9.5
Finger closing port Finger opening port
M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

+0.02
3 x ø3 0 depth 6
(A, B, C common view)
ø44
ø29
0 6 x M3 x 0.5 thread depth 6
ø9h9 –0.036
(A, B, C common view)
15
4.7

9.7

MHZ
5.8
3
2x3

MHF
(36.5)
33.5

19.5
MHL
4.7
.2
ø4

MHR
x
2

–0.014
10
ø3e8 –0.028 MHK
Auto switch mounting groove Open: 11 Closed: 8

MHS

0
MHC
8 –0.05

MHT
MHY
12
4 4

Dimensional Differences between MHR and MDHR

The following dimensions are different between series MHR and MHW
MDHR. And also, body shapes are different depending on auto
switch mounting groove.
-X
MRHQ
A

3 x M3 x 0.5 thread depth 6

MA
(Thread for mounting attachment)
Model A D-
MHR3-10R 5
MDHR3-10R 4.7

509
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 510

Series MHR3/MDHR3

Nominal Size 15
Without auto switch: MHR3-15R

3 x M3 x 0.5 thread depth 6

P.C.D.29 (Mounting thread)

M3 x 0.5 M3 x 0.5
Finger closing port Finger opening port

ø53

ø34
0
ø12h9 –0.043
1.5
5

20

43.5

(47)
2

–0.020
ø3.5e8 –0.038
Open: 13.5 Closed: 9.5

0
8 –0.05
15
6
5

3 x M3 x 0.5 thread depth 6

(Thread for mounting attachment)

510
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 511

Rotary Actuated Air Gripper

3-Finger Type Series MHR3/MDHR3

With auto switch (Built-in magnet): MDHR3-15R

A
3 x M3 x 0.5 thread depth 6
P.C.D.29 (Mounting thread)
21 24
MDHR3-15E Port Location
48

11
M3 x 0.5 M3 x 0.5 M3 x 0.5 10 M3 x 0.5
Finger closing port Finger opening port Finger closing port Finger opening port

+0.02
3 x ø3 0 depth 6
ø53 (A, B, C common view)

ø34
6 x M3 x 0.5 thread depth 6
0 18.5
ø12h9 –0.043 (A, B, C common view)
1.5

MHZ
5

14.5

2x
3.1

ø4
.2
MHF

5.5
43.5

(47)
3

MHL
4.7

22.5
MHR
MHK
2

–0.020
ø3.5e8 –0.038
12
Open: 13.5 Closed: 9.5 MHS
Auto switch mounting groove
MHC
MHT
0
8 –0.05 MHY
MHW
15
6

-X
5

MRHQ
MA
D-

3 x M3 x 0.5 thread depth 6

(Thread for mounting attachment)

511
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Series MDHR2/MDHR3
Auto Switch Installation Examples and
Mounting Positions
Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions.
1) Detection when Gripping Exterior of Workpiece/Auto Switch Mounted from Direction A
1. Confirmation of fingers in reset 2. Confirmation of workpiece held 3. Confirmation of workpiece released
Detection example
position

Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed

Position to
be detected

Auto switch turned ON when fingers Auto switch turned ON when gripping a When a workpiece is held (Normal operation):
Operation of return. (Light ON) workpiece. Auto switch to turn OFF (Light not illuminating)
auto switch (Light ON) When a workpiece is not held (Abnormal operation):
Auto switch to turn ON (Light illuminating)

One auto
combinations

switch
Detection

Two auto
switches

How to determine Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers.
auto switch
installation position

At no pressure or low In the case of mounting auto switch from A direction

pressure, connect the Step 2) Insert the auto switch into the auto switch installation A B
auto switch to a pow- groove from direction A.
er supply, and follow
the directions.

Step 3) Slide the auto switch in the Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates.
direction of the arrow until the light
illuminates and fasten it at a position
0.3 to 0.5 mm in the direction of the
arrow beyond the position where the
indicator light illuminates.

Position where
light turns ON Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out.

0.3 to 0.5mm

Position to
be secured Step 5) Move the auto switch in the opposite direction, and fasten it at a position 0.3 to 0.5
mm in the direction of the arrow beyond the position where the indicator light illuminates.

Position where light turns ON

0.3 to 0.5 mm

Position to be secured

Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke.
Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above
table may be limited, depending on the hysteresis of an auto switch, etc.

512
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 513

Rotary Actuated Air Gripper Series MDHR2/3

2) Detection when Gripping Exterior of Workpiece/Auto Switch Mounted from Direction B
1. Confirmation of fingers in reset 2. Confirmation of workpiece held 3. Confirmation of workpiece released
Detection example
position

Position of fingers fully opened Position when gripping a workpiece Position of fingers fully closed
Position to
be detected

Auto switch turned ON when fingers Auto switch turned ON when gripping a When a workpiece is held (Normal operation):
Operation of return. (Light ON) workpiece. Auto switch to turn OFF (Light not illuminating)
auto switch (Light ON) When a workpiece is not held (Abnormal operation):
Auto switch to turn ON (Light illuminating)

One auto
combinations

switch
Detection

Two auto
switches

How to determine Step 1) Fully open the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully close the fingers.
auto switch
installation position

At no pressure or low In the case of mounting auto switch from B direction

pressure, connect the
auto switch to a pow-
er supply, and follow
the directions.
Step 2) Insert the auto switch into the auto switch installation
A B
groove from direction B.

Step 3) Slide the auto switch in the Step 3) Slide the auto switch in the direction of the arrow until the indicator light
direction of the arrow until the indicator illuminates. Move the switch an additional 0.3 to 0.5 mm in the direction of the arrow
light illuminates. and fasten it.
MHZ
MHF
MHL
Position where light turns ON
MHR
Step 4) Slide the auto switch in the
direction of the arrow until the indicator MHK
light goes out
0.3 to 0.5 mm
MHS
Position to be secured

MHC
MHT
Step 5) Move the auto switch in the
opposite direction and fasten it at a MHY
position 0.3 to 0.5 mm beyond the
position where the indicator light
illuminates.
MHW
Position where -X
light turns ON

MRHQ
MA
0.3 to 0.5 mm
Position to
be secured D-

Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke.
Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above
table may be limited, depending on the hysteresis of an auto switch, etc.
513
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 514

Series MDHR2/MDHR3
Auto Switch Installation Examples and
Mounting Positions
Various auto switch applications are possible through different combinations of auto switch quantities and detecting positions.
3) Detection when Gripping Interior of Workpiece/Auto Switch Mounted from Direction A
1. Confirmation of fingers in reset 2. Confirmation of workpiece held 3. Confirmation of workpiece released
Detection example
position

Position of fingers fully closed Position when gripping a workpiece Position of fingers fully opened

Position to
be detected

Auto switch turned ON when fingers Auto switch turned ON when gripping a When a workpiece is held (Normal operation):
Operation of return. (Light ON) workpiece. Auto switch to turn OFF (Light not illuminating)
auto switch (Light ON) When a workpiece is not held (Abnormal operation):
Auto switch to turn ON (Light illuminating)

One auto
combinations

switch
Detection

Two auto
switches

How to determine Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers.
auto switch
installation position

At no pressure or low In the case of mounting auto switch from A direction

pressure, connect the Step 2) Insert the auto switch into the auto switch installation A B
auto switch to a pow- groove from direction A.
er supply, and follow
the directions.

Step 3) Slide the auto switch in the Step 3) Slide the auto switch in the direction of the arrow until the indicator light
direction of the arrow until the indicator illuminates. Move the switch an additional 0.3 to 0.5 mm in the direction of the arrow
light illuminates. and fasten it.

Position where light turns ON

Step 4) Slide the auto switch in the
direction of the arrow until the indicator
light goes out.

0.3 to 0.5 mm

Position to be secured
Step 5) Move the auto switch in the
opposite direction and fasten it at a
position 0.3 to 0.5 mm beyond the
position where the indicator light
illuminates.

Position where
light turns ON

0.3 to 0.5 mm

Position to
be secured

Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke.
Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above
table may be limited, depending on the hysteresis of an auto switch, etc.

514
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Rotary Actuated Air Gripper Series MDHR2/3

4) Detection when Gripping Interior of Workpiece/Auto Switch Mounted from Direction B
1. Confirmation of fingers in reset 2. Confirmation of workpiece held 3. Confirmation of workpiece released
Detection example
position

Position of fingers fully closed Position when gripping a workpiece Position of fingers fully opened
Position to
be detected

Auto switch turned ON when fingers Auto switch turned ON when gripping a When a workpiece is held (Normal
Operation of return. (Light ON) workpiece. operation): Auto switch to turn OFF (Light
auto switch (Light ON) not illuminating)
When a workpiece is not held (Abnormal
operation): Auto switch to turn ON (Light

One auto
combinations

switch
Detection

Two auto
switches

How to determine Step 1) Fully close the fingers. Step 1) Position fingers for gripping a workpiece. Step 1) Fully open the fingers.
auto switch
installation position

At no pressure or low In the case of mounting auto switch from B direction

pressure, connect the
auto switch to a pow-
er supply, and follow
the directions.
Step 2) Insert the auto switch into the auto switch installation
A B
groove from direction B.

Step 3) Slide the auto switch in the Step 3) Slide the auto switch in the direction of the arrow until the indicator light illuminates.
direction of the arrow until the light
illuminates and fasten it at a position
MHZ
0.3 to 0.5 mm in the direction of the
arrow beyond the position where the MHF
indicator light illuminates.

MHL
Position where MHR
light turns ON Step 4) Slide the auto switch in the direction of the arrow until the indicator light goes out.

MHK
MHS
0.3 to 0.5 mm
MHC
Position to
be secured
MHT
Step 5) Move the auto switch in the opposite direction, and fasten it at a position 0.3 to 0.5
mm in the direction of the arrow beyond the position where the indicator light illuminates.
MHY
Position where light turns ON
MHW

0.3 to 0.5 mm
-X
Position to be secured MRHQ
MA
D-

Note 1) It is recommended that gripping of a workpiece be performed close to the center of the finger stroke.
Note 2) When holding a workpiece close at the end of open/close stroke of fingers, detecting performance of the combinations listed in the above
table may be limited, depending on the hysteresis of an auto switch, etc.
515
P0442-P0518-E.qxd 08.9.29 3:21 PM Page 516

Series MHR2/MDHR2
Auto Switch Mounting Auto Switch Hysteresis
To set the auto switch, insert the auto switch into the installation groove of the gripper Please refer to the table as a guide when
from the direction indicated in the following drawing. After setting the position, tighten the setting auto switch positions.
attached auto switch mounting set screw with a flat head watchmaker’s screwdriver.
Model Hysteresis (Max. value) (mm)
MDHR2-10 0.3
MDHR2-15 0.2
MDHR2-20 0.6
MDHR2-30 0.3

Auto switch
MDHR2

Flat head watchmaker’s

screwdriver

Auto switch mounting screw

(M2.5 x 4 l)

ø5 to 6

Auto switch operating position (ON)

Note) Use a watchmaker’s screwdriver with a grip diameter of 5 to 6 mm to tighten the auto switch Hysteresis
mounting screw. The tightening torque should be about 0.05 to 0.15 N·m.
Auto switch reset position (OFF)

Protrusion of Auto Switch from Edge of Body

The maximum protrusion of an auto switch (when fingers are fully open) from the edge of
the body is shown in the table below. Use the table as a guideline for mounting.

MDHR2-10, 15 MDHR2-20, 30

H
H

L L

Auto switches of D-M9N, D-M9P Auto switches of D-M9NV, D-M9PV Auto switches of D-M9NV, D-M9PV
and D-M9B are used. and D-M9BV are used. and D-M9BV are used.
Max. Protrusion of Auto Switch
Max. Protrusion of Auto Switch from Edge of Body: L, H (mm) from Edge of Body: H (mm)
Auto switch model
Auto switch model
D-M9V
D-M9 D-M9V
Air gripper model
Air gripper model
MDHR2-20 7
L 2.6 0.6
MDHR2-10 MDHR2-30 7
H — 7 The auto switch will not protrude in the case of
L — — D-M9.
MDHR2-15
H — 7

516
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Rotary Actuated Air Gripper

3-Finger Type Series MHR3/MDHR3
Auto Switch Mounting Auto Switch Hysteresis
To set the auto switch, insert the auto switch into the installation groove of the gripper Please refer to the table as a guide when
from the direction indicated in the following drawing. After setting the position, tighten the setting auto switch positions.
attached auto switch mounting set screw with a flat head watchmaker’s screwdriver.
Model Hysteresis (Max.value) (mm)
MDHR3-10 0.2
MDHR3-15 0.5

MDHR3
Auto switch

Flat head watchmaker’s

screwdriver

Auto switch mounting screw

(M2.5 x 4 l)

ø5 to 6 Auto switch operating position (ON)

Hysteresis
Auto switch reset position (OFF)

Note) Use a watchmaker’s screwdriver with a grip diameter of 5 to 6 mm to tighten the auto switch
mounting screw. The tightening torque should be about 0.05 to 0.15 N·m.

Protrusion of Auto Switch from Edge of Body

The maximum protrusion of an auto switch (when fingers are fully open) from the edge of
the body is shown in the table below. Use the table as a guideline for mounting. MHZ
MHF
MDHR3-10 MDHR3-15
MHL
L

MHR
MHK
MHS
MHC
H
H
MHT
MHY
When auto switch D-M9 is used When auto switch D-M9V is used When auto switch D-M9V is used
MHW

Max. Protrusion of Auto Switch Max. Protrusion of Auto Switch -X

from Edge of Body: L, H (mm) from Edge of Body: H (mm)
Auto switch model D-M9 D-M9V Auto switch model D-M9V MRHQ
L — — H 1.5
H — 2.5 The auto switch will not protrude in the case of MA
D-M9.

D-

517
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Series MHR2,MDHR2/MHR3, MDHR3

Specific Product Precautions
Be sure to read before handling.

Mounting Air Grippers/MHR2/MHR3

Mounting direction of each model is different. Refer to the table at right.
Axial side Lateral mounting Vertical mounting
Axial side

Axial side
mounting

mounting
Model mounting A B C D
MHR2- —
MHR3- — — — —
L mo La MDHR2- —
moatera un ter al D
un l tin al rtic ing MDHR3- —
tin
gA gA Ve ount
a l D m
r t i c i n g
Ve ount Auto switch
m installation groove

La L
mo tera rtic
al moatera
al C un l Ve ting C un l
rtic ing ting tin
Ve ount B mo
u n gB
m
MHR with auto switch MDHR With auto switch

Axial side mounting Lateral mounting Vertical mounting

Positioning boss

Positioning boss
Positioning boss

Max. Max. Positioning boss Max. Max. Positioning boss Max. Max. Positioning boss
Applicable tightening screw-in Applicable tightening screw-in Bore Bore Applicable tightening screw-in Bore Bore
Model torque depth Dmm Hmm Model torque depth Depth Depth Model torque depth Depth Depth
bolt bolt bolt
N·m lmm N·m l mm dmm hmm N·m l mm dmm hmm
-10 9h9 1 -10 -10
M3 x 0.5 0.88 6 M3 x 0.5 0.88 6 3 6 M3 x 0.5 0.88 6 3 6
-15 12h9 -15 -15
2 1.5 2 2
-20 M4 x 0.7 2.1 8 14h9 -20 M4 x 0.7 2.1 8 4 8 -20 M4 x 0.7 2.1 8 4 8
-30 M5 x 0.8 4.3 10 16h9 2 -30 M5 x 0.8 4.3 10 5 10 -30 M5 x 0.8 4.3 10 5 10
-10 9h9 1 -10 -10
3 M3 x 0.5 0.88 6 3 M3 x 0.5 0.88 6 3 6 3 M3 x 0.5 0.88 6 3 6
-15 12h9 1.5 -15 -15

How to Locate Finger and Attachment How to Mount the Attachment to the Finger Finger opening/closing speed: MHR2/MHR3
Positioning in the finger's open/close direction To mount the attachment to the finger, make sure When the finger opening/closing speed is set as the
Position the finger and the attachment by inserting to use a wrench to support the attachment so as total stroke of 0.2 seconds or more, it may cause
the finger's pin into the attachment's pin insertion hole. not to apply undue strain on the finger. the product to stick or completely stop its
Provide the following pin insertion hole dimensions: Refer to the table below for the proper tightening movement.
shaft-basis fitting dimension C for the open/close torque on the bolt used for securing
direction; slotted hole with relief B for the cross direction. the attachment to the finger.
Positioning in the finger's cross direction
Position the finger and the attachment by placing the
finger's width into the attachment's finger insertion
groove A.

Finger
A
B

C
1 to 1.5

Attachment
1 to 1.5

ove
A n gro
Opening/closing rtio
direction er inse
g
Fin Max. tightening
Cross Model Applicable bolt torque
direction Attachment N·m
Pin insertion -10
hole M3 x 0.5 0.59
-15
2
-20 M4 x 0.7 1.4
-30 M5 x 0.8 2.8
-10
3 M3 x 0.5 0.59
-15

518