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Electric Gripper, 2-Finger Type, LEHF Series
Electric gripper for a variety of workpieces with a long stroke.
[Features]
· Step motor (servo 24 V DC).
· Easy to complete setup with 2 items, namely, position and thrust.
· Controllers are shipped with the setup for actuator specifications (the actuator and controller are sold as a package).
· With drop prevention function.
· Self-lock mechanism reduces power consumption.
· With gripping check function.
· Possible to set position, speed and force (64 points).
*Values inside parentheses () are for long stroke.
(i)Caution
- Product images are representative images. CAD data is not supported for some model numbers.
Part Number
Configured Part Number is shown.
LEHF Series 2-Finger Type Electric Gripper Specifications
LEHF Series 2-Finger Type Electric Gripper external appearance
Features of LEHF Series 2-Finger Type Electric Gripper
Specifications
| Model | LEHF10 | LEHF20 | LEHF32 | LEHF40 | ||
|---|---|---|---|---|---|---|
| Actuator specifications | Open and close stroke / both sides (mm) | Basic | 16 | 24 | 32 | 40 |
| Long stroke | 32 | 48 | 64 | 80 | ||
| Lead (mm) | 40/15 (2.667) | 50/15 (3.333) | 70/16 (4.375) | 70/16 (4.375) | ||
| Gripping force (N)*1 *3 | 3 to 7 | 11 to 28 | 48 to 120 | 72 to 180 | ||
| Open and close speed / pushing speed (mm/s)*2 *3 | 5 to 80 / 5 to 20 | 5 to 100 / 5 to 30 | ||||
| Actuation type | Slide screw + belt | |||||
| Finger guide type | Linear guide (no circulation) | |||||
| Repeated length measurement accuracy (mm)*4 | ±0.05 | |||||
| Finger backlash / one side (mm)*5 | 0.5 or less | |||||
| Repeatability (mm)*6 | ±0.05 | |||||
| Positioning repeatability / one side (mm) | ±0.1 | |||||
| Lost motion / one side (mm)*7 | 0.3 or less | |||||
| Impact/vibration resistance (m/s2)*8 | 150/30 | |||||
| Max. operating frequency (C.P.M) | 60 | |||||
| Operating temp. range (°C) | 5 to 40 | |||||
| Operating humidity range (%RH) | 90 or less (no condensation) | |||||
| Weight (g) | Basic | 340 | 610 | 1,625 | 1,980 | |
| Long stroke | 370 | 750 | 1,970 | 2,500 | ||
| Electric specifications | Motor size | □20 | □28 | □42 | ||
| Motor type | Step motor (servo 24 V DC) | |||||
| Encoder | Incremental A/B phase (800 pulse/rotation) | |||||
| Rated voltage (V) | 24 V DC ±10% | |||||
| Power consumption / standby power consumption when operating (W)*9 | 11/7 | 28/15 | 34/13 | 36/13 | ||
| Max. instantaneous power consumption (W)*10 | 19 | 51 | 57 | 61 | ||
*1 Gripping force should be from 10 to 20 times the workpiece weight. Moving force should be 150% when releasing the workpiece. Gripping force accuracy should be: LEHF10: ±30% (F.S.), LEHF20: ±25% (F.S.), LEHF32/LEHF40: ±20% (F.S.). Gripping the workpiece with a heavy attachment and fast pushing speed may not satisfy the product specifications. In this case, decrease the weight and lower the pushing speed.
*2 Pushing speed should be set within the range during pushing (gripping) operation. Otherwise, it may cause malfunction. The open/close speed and pushing speed are for both fingers. The speed for one finger is 1/2 this value.
*3 The speed and force may change depending on the cable length, load, mounting conditions, etc. Furthermore, if the cable length exceeds 5 m, then the speed and force will decrease by up to 10% for each 5 m. (At 15 m: reduced by up to 20%)
*4 Repeated length measurement accuracy means dispersion (value on the controller monitor) when the workpiece is repeatedly held in the same position.
*5 There is no effect on the backlash during pushing (gripping). Make the stroke longer by the amount of backlash when opening.
*6 Repeatability means the variation of the gripping position (workpiece position) when the gripping operation is repeatedly performed in the same sequence for the same workpiece.
*7 A reference value for correcting an error in reciprocal operation which occurs during the positioning operation.
*8 Impact resistance: No malfunction occurred when the slide table was tested with a drop tester in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the gripper in the initial state.) Vibration resistance: No malfunction occurred in a test ranging from 45 to 2,000 Hz. Test was performed in both an axial direction and a perpendicular direction to the lead screw. (Test was performed with the actuator in the initial state.)
*9 The power consumption (including the controller) is for when the actuator is operating. The standby power consumption when operating is for when the gripper is stopped in the set position during operation (including energy-saving mode when gripping).
*10 The maximum instantaneous power consumption (including the controller) is for when the actuator is operating. This value can be used for the selection of the power supply.
External dimensional drawing
(Unit: mm)
LEHF10K2-16 / basic dimensional drawing
LEHF10K2-32 / long stroke dimensional drawing
LEHF20K2-24 / basic dimensional drawing
LEHF20K2-48 / long stroke dimensional drawing
Common Cautions
*1 Range within which the finger can move when it returns to origin. Make sure the workpiece mounted on the finger does not interfere with the workpieces and equipment around the finger.
*2 Secure the motor cable so that it will not be bent repeatedly.
Structure drawing
LEHF Series structure drawing
| No. | Description | Material | Note |
|---|---|---|---|
| 1 | Body | Aluminum alloy | Anodized |
| 2 | Side plate A | Aluminum alloy | Anodized |
| 3 | Side plate B | Aluminum alloy | Anodized |
| 4 | Slide shaft | Stainless steel | Heat treated + Specially treated |
| 5 | Slide bushing | Stainless steel | - |
| 6 | Slide nut | Stainless steel | Heat treated + Specially treated |
| 7 | Slide nut | Stainless steel | Heat treated + Specially treated |
| 8 | Fixed plate | Stainless steel | - |
| 9 | Motor plate | Carbon steel | - |
| 10 | Pulley A | Aluminum alloy | - |
| 11 | Pulley B | Aluminum alloy | - |
| 12 | Bearing stopper | Aluminum alloy | - |
| 13 | Rubber bushing | NBR | - |
| 14 | Bearing | - | - |
| 15 | Belt | - | - |
| 16 | Flange | - | - |
| 17 | Finger assembly | - | - |
| 18 | Step motor (servo 24 V DC) | - | - |
Mounting Method
When using the thread on the body
When using the thread on the mounting plate
When using the thread on the back of the body
Precautions
- *The parameters of the stroke and the open/close speed are for both fingers.
- *The stroke and the open/close speed for one finger is 1/2 the set parameter.
- *When gripping a workpiece by the product, be sure to set to "Pushing."
- *Also, do not hit the workpiece with the finger and attachment during positioning or in the range of positioning. Otherwise, the lead screw can get caught and this may result in a malfunction. However, if the workpiece cannot be gripped when pushing (such as if the workpiece is a plastically deformed workpiece or rubber component, etc.), grip it when positioning giving consideration to the elastic force of the workpiece.
- *There is no effect on the backlash during pushing.
- *The return to origin is done by pushing. The finger position can be displaced by the effect of the backlash during positioning. This backlash displacement should be considered when setting the position.
- *See the manufacturer's catalog for product information other than the above.
- *Product images are representative images.
| Part Number | Standard Unit Price | Minimum order quantity | Volume Discount | Days to Ship | Dimensions when open (mm) | Maximum Gripping Force (Opening Side, Electric Type) (N) | Maximum Gripping Force (Closing Side, Electric Type) (N) | Size | Stroke (mm) | Motor cable entry direction | Actuator cable type | Actuator cable length | Controller / driver type | I/O cable length | Controller/driver mounting method | Communications plug |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
SGD 1,149.98 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | None | None | None | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | None | None | NPN step data input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | None | None | NPN step data input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | None | None | PNP step data input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | None | None | NPN pulse input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | None | None | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN pulse input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | PNP pulse input type | 3 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | CC-Link direct input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | None | None | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN pulse input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN pulse input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | CC-Link direct input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | CC-Link direct input type | None | Screw mounting | Straight-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | None | None | 5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN pulse input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN pulse input type | 1.5 m | DIN rail mounting | None | ||
SGD 1,857.22 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN pulse input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN pulse input type | 3 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN pulse input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | CC-Link direct input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | CC-Link direct input type | None | Screw mounting | Straight-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | CC-Link direct input type | None | DIN rail mounting | Straight-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | CC-Link direct input type | None | Screw mounting | T-branch-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | CC-Link direct input type | None | DIN rail mounting | T-branch-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 8 m | None | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 8 m | CC-Link direct input type | None | DIN rail mounting | T-branch-type communication plug connector | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN programless type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN programless type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN step data input type | None | Screw mounting | None | ||
SGD 1,671.72 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN step data input type | 1.5 m | Screw mounting | None | ||
SGD 1,699.02 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN step data input type | 1.5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | NPN step data input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | PNP step data input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 1.5 m | PNP step data input type | 1.5 m | DIN rail mounting | None | ||
SGD 1,848.58 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN programless type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | PNP programless type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | None | Screw mounting | None | ||
SGD 1,745.10 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | 1.5 m | Screw mounting | None | ||
SGD 1,772.40 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | 1.5 m | DIN rail mounting | None | ||
SGD 1,773.80 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | 3 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | NPN step data input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | PNP step data input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | PNP step data input type | 1.5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | PNP step data input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 3 m | PNP step data input type | 3 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | PNP programless type | 5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 1.5 m | Screw mounting | None | ||
SGD 1,894.55 | 1 Piece(s) | 32 Day(s) | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 1.5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 3 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 3 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | 5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | NPN step data input type | None | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | PNP step data input type | None | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | PNP step data input type | 1.5 m | Screw mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | PNP step data input type | 1.5 m | DIN rail mounting | None | ||
- | 1 Piece(s) | Quote | 16 | 7 | 7 | 10 | 16 | Entry on the right side | Robot cable | 5 m | PNP step data input type | 3 m | Screw mounting | None |
Loading...
Basic Information
| Type | Main Body(Electric Type) | Gripping Methods | Pinch, Parallel Type / Open, Parallel Type | Number of Fingers | 2 pcs. |
|---|---|---|---|---|---|
| Main Body Shape | Lateral Shape | Dimensions when closed(mm) | 0 | Environment, Applications | Standard |
| Additional Functions | With Linear Guide | Stroke Adjustment Mechanism | Open/Close Dual Adjustment |
Specification/Dimensions
-
Dimensions when open(mm)
-
Maximum Gripping Force (Opening Side, Electric Type)(N)
-
Maximum Gripping Force (Closing Side, Electric Type)(N)
-
Size
- 10
- 20
- 32
- 40
-
Stroke(mm)
-
Motor cable entry direction
- Entry on the left side
- Entry on the right side
-
Actuator cable type
- None
- Robot cable
- Standard cable
-
Actuator cable length
- 1.5 m
- 3 m
- 5 m
- 8 m
- 10 m
- 15 m
- 20 m
- None
-
Controller / driver type
- CC-Link direct input type
- NPN programless type
- NPN pulse input type
- NPN step data input type
- None
- PNP programless type
- PNP pulse input type
- PNP step data input type
-
I/O cable length
- 1.5 m
- 3 m
- 5 m
- None
-
Controller/driver mounting method
- DIN rail mounting
- Screw mounting
-
Communications plug
- None
- Straight-type communication plug connector
- T-branch-type communication plug connector
-
type
- LEHF10
- LEHF20
- LEHF32
- LEHF40
-
CAD
- 2D
- 3D
Days to Ship
-
- All
- 21 Day(s) or Less
- 32 Day(s) or Less
Specify Alterations
- The specifications and dimensions of some parts may not be fully covered. For exact details, refer to manufacturer catalogs .
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