Dover Destaco Robohand RPL Series User manual

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ROBOHAND
Service Manual
RPL/RPLC Series

Dimensions and technical information are subject to change without notice
Parallel Grippers | Maintenance and Assembly Procedure
76
RPL Series
For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: [phone] Visit us on the Internet at: www.destaco.com
1.14
RPL SERIES
MAINTENANCE
Third Angle
Projection
Seal Kit
Items
Thread
Locker
Krytox™
Lubricant
Teflon™Based
Grease
Lightweight
Machine Oil
Super
Bonder
1
40
20
32
5
21
8
13
31
3
2
30
6
4
(3 SCREWS)
SK
SK
SK
SK
SK Seal Repair Kit Order #’s
See Product Data Sheets
Item Qty Name
01 1 Body
02 1 Piston
03 2 Cap
04 1 Equalizer
05 2 Link
06 4 Way
08 2 Jaw
13 2 Pin
20 1 Piston W/Magnet Slot
21 4 S’assy,Cage & Rollers
30 3 SHCS
31 1 Dowel Pin
32 2 Dowel Pin
40 2 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) Press dowel pin into center of body.
3) Place links and equalizers into body.
4) Press dowel pins into jaws.
5) Place jaws through links and into pis-
tons.
6) Install cages on jaws.
7) Place ways behind cages with flat
facing out and install screws.
8) Adjust preload.
Preload Adjustment Procedure
1) Tighten center screw (#30) so that
fingers bind slightly.
2) Tighten outer screws in the same
fashion.
3) Cycle the gripper.
4) Re-adjust screws so that when you
push the cage, the finger moves
freely. (the finger movement should
not feel gritty.)
Non-Synchronous Procedure
1) Remove preload screws (#30) and
ways.
2) Remove cages, jaws and dowel pins.
3) Remove equalizer, links, and roller
bearings.
4) Re-assemble jaws and dowel pins
into pistons.
5) Re-install cages on jaws.
6) Place ways behind cages with flat
facing out and install preload screws.
7) Adjust preload.
RPL Series Exploded View
1.1-1.23 (Intro-RPL-RPLC) RED 2/6/06 5:13 PM Page 14

Dimensions and technical information are subject to change without notice
Parallel Grippers | Maintenance and Assembly Procedure
77
RPL Series
For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: [phone] Visit us on the Internet at: www.destaco.com
1.15
RPL SERIES
MAINTENANCE
Third Angle
Projection
Seal Kit
Items
Thread
Locker
Krytox™
Lubricant
Teflon™Based
Grease
Lightweight
Machine Oil
Super
Bonder
Accessory Installation & Adjustment Instructions
Installation
1. Install sensors as shown.
2. Adjust for desired end of stroke
detection.
2
19
20
21
20 1
32
5
8
4
6
21
30
3
2
31
40
Item Qty Name
01 1 Body
02 1 Piston
03 2 Cap
04 1 Equalizer
05 2 Link
06 4 Way
08 2 Jaw
13 2 Bearing,Roller
20 1 Piston W/Magnet Slot
21 4 S’assy,Cage & Rollers
30 3 SHCS
31 1 Dowel Pin
32 2 Dowel Pin
40 2 Magnet
NOTE: Contact the Robohand Sales
Department for a complete spare parts list
with order numbers and prices.
RPL Series Assembled View
1.1-1.23 (Intro-RPL-RPLC) RED 2/6/06 5:13 PM Page 15

Dimensions and technical information are subject to change without notice
Parallel Grippers | Maintenance and Assembly Procedure
78
RPLC Series
For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: [phone] Visit us on the Internet at: www.destaco.com
1.22
RPLC SERIES
MAINTENANCE
Third Angle
Projection
Seal Kit
Items
Thread
Locker
Krytox™
Lubricant
Teflon®Based
Grease
Lightweight
Machine Oil
Super
Bonder
RPLC Series Exploded View
1
30
31
32
5
21
10
11
8
13
12
3
2
6
40
4
(3 SCREWS)
20
SK
SK
SK
SK
SK
KRYTOX
KRYTOX
KRYTOX
KRYTOX
KRYTOX
KRYTOX
Item Qty Name
01 1 Body
02 1 Piston
03 2 Cap
04 1 Equalizer
05 2 Link
06 4 Way
08 2 Jaw
10 1 Cover, Bottom
11 2 Cover, Bottom, Corners
12 2 Cover, End
13 2 Bearing, Roller
20 1 Piston W/Magnet Slot
21 4 S’assy, Cage & Rollers
30 3 SHCS
31 1 Dowel Pin
32 2 Dowel Pin
40 2 Magnet
Note: contact the robohand sales department
for a complete spare parts list with order num-
bers and prices.
Assembly procedure
1) Lubricate and install seals.
2) Glue magnets into one piston, install pis-
tons, caps and retaining rings.
3) Press dowel pin into center of body.
4) Place links and equalizers into body.
5) Press dowel pins into jaws.
6) Place jaws through links and into pistons.
7) Install cages on jaws.
8) Place ways behind cages with flat facing
out and install screws.
9) Adjust preload.
10) Install bottom cover, bottom cover corners
and end covers.
Preload adjustment procedure
1) Tighten center screw (#30) so that fingers
preload adjustment procedure
2) Tighten outer screws in the same fashion.
Bind slightly.
3) Cycle the gripper.
4) Re-adjust screws so that when you push
the cage, the finger moves freely. (the fin-
ger movement should not feel gritty.)
Non-synchronous procedure
1) Remove end covers, bottom cover corners,
and bottom cover.
2) Remove preload screws (#30) and ways.
3) Remove cages, jaws and dowel pins.
4) Remove equalizer, links, and roller bear-
ings.
5) Re-assemble jaws and dowel pins into pis-
tons.
6) Re-install cages on jaws.
7) Place ways behind cages with flat facing
out and
8) Adjust preload. Install preload screws.
9) Re-attach bottom cover, bottom cover cor-
ners and end covers. Gripper is now non-
synchronous.
SK Seal Repair Kit Order #’s
See Product Data Sheets
1.1-1.23 (Intro-RPL-RPLC) RED 2/6/06 5:13 PM Page 22

Dimensions and technical information are subject to change without notice
Parallel Grippers | Maintenance and Assembly Procedure
79
RPLC Series
For more information call us at: 1-800-ROBOHAND or 203-261-5558 Fax: [phone] Visit us on the Internet at: www.destaco.com
1.23
RPLC SERIES
MAINTENANCE
Third Angle
Projection
Seal Kit
Items
Thread
Locker
Krytox™
Lubricant
Teflon®Based
Grease
Lightweight
Machine Oil
Super
Bonder
1
32
5
4
6
8
30
3
2
31
40 20
12
RPLC Series Assembled View
Accessory Installation & Adjustment Instructions
Item Qty Name
01 1 Body
02 1 Piston
03 2 Cap
04 1 Equalizer
05 2 Link
06 4 Way
08 2 Jaw
10 1 Cover, Bottom
11 2 Cover, Bottom, Corners
12 2 Cover, End
13 2 Bearing, Roller
20 1 Piston W/Magnet Slot
21 4 S’assy, Cage & Rollers
30 3 SHCS
31 1 Dowel Pin
32 2 Dowel Pin
40 2 Magnet
Note: contact the robohand sales department
for a complete spare parts list with order
numbers and prices.
Installation
1) Install sensors as shown.
2) Adjust for desired end of stroke
detection.
223
24
25
1.1-1.23 (Intro-RPL-RPLC) RED 2/6/06 5:13 PM Page 23

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All sales are based on our terms and conditions of sale, delivery and payment. IN_SM-RPL-RPLC_03/19