Adept OctoMation GrippersUser's Guide

Adept OctoMation GrippersUser's Guide

PN: 11681-000, Rev. A

March 2012

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone +49.231.75.89.40 • Fax +49.231.75.89.450

Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598

Copyright Notice

The information contained herein is the property of Adept Technology, Inc., and shall not be reproducedin whole or in part without prior written approval of Adept Technology, Inc. The information herein issubject to change without notice and should not be construed as a commitment by Adept Technology,Inc. The documentation is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Crit-ical evaluation of the documentation by the user is welcomed. Your comments assist us in preparationof future documentation. Please submit your comments to:techpubs@adept.com.

Copyright © 2011–2012 by Adept Technology, Inc.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks

of Adept Technology, Inc.

Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

OctoGripper, OctoGrasper, and OctoMationare trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publicationare the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 71.1 Product Description 7Key Features 8The Adept OctoGripper and OctoGrasper Series 8

1.2 Safety 9Dangers, Warnings, Cautions, and Notes 9

1.3 How Can I Get Help? 10Related Manuals 10Adept Document Library 10

Chapter 2: Descriptions and Specifications 132.1 1000 Series 132.2 3000 Series 132.3 5000 Series 142.4 6700 Series 152.5 8000 Series 15

Chapter 3: Installation 173.1 Unpacking and Inspecting the OctoGrippers and OctoGraspers 17Before Unpacking 17Unpacking 17Transport and Storage 17

3.2 Installing the OctoGrippers and OctoGraspers 17Attaching the Gripper to the Robot 18

3.3 Dual-Gripper Option 203.4 Extender Options 2060 mm Extender 2180 mm Extender 21130 mm Extender 22

Chapter 4: Cleaning 234.1 Safety Considerations 234.2 Cleaning Overview 23Methods of Cleaning 24

4.3 Disassembling the OctoGrippers and OctoGraspers 24Disassembling the Gripper 24

Adept OctoMation Grippers User's Guide, Rev. APage 5 of 32

Table of Contents

Disassembling the Grasper 24Disassembling the Gripper Body and Swivel 24

4.4 Cleaning the Gripper Assembly and Silicone 25Cleaning the Gripper Assembly 25Cleaning the Gripper Silicone 25Gripper Materials and Cleaning Guidelines 25

Chapter 5: Technical Specifications 275.1 Dimension Drawings 275.2 Specifications 29

Adept OctoMation Grippers User's Guide, Rev. APage 6 of 32

Adept OctoMation Grippers User's Guide, Rev. APage 7 of 32

Chapter 1: Introduction

The Adept OctoGrippers™ and OctoGraspers™ are a set of gripper products that are spe-cifically designed for use in the food packaging industry.

They are primarily used with the Adept OctoMation™ cell, a robotic system that automatesloading and packing of non-uniform and unstable products in the food industry. For moreinformation on using this system, refer to the Adept OctoMation User's Guide.

1.1 Product DescriptionThe Adept OctoGrippers and OctoGraspers are the key to handling food products that are non-uniform, natural and fragile. The grippers are made of soft silicone that conforms to the shapeof the product. The Adept OctoGrippers and OctoGraspers, which are also referred to as"grippers" and "graspers" in this document, are a unique tool for loading and packing appli-cations.

There are four basic components of the Adept OctoGrippers and OctoGraspers:

l Silicone gripper

l Twist-lock connector

l Swivel assembly

l Swivel-to-robot adapter plate

Adept operates with two primary methods of picking up products: gripping and grasping.

l Grippers include a direct vacuum path to the product—there is air flow on the grippedsurface of the product. The patented design platform and the gripper material enable thegrippers to form themselves around the natural shape of the products (or parts) withoutdamaging them.

l Graspers use vacuum to activate fingers or sidewalls around the part, but there is nodirect vacuum path to the product. The grasper is designed for natural products, and itprovides a gentle and firm grasp. It is made of FDA-approved materials, and is ideal forgrasping porous and fragile products. When the vacuum connected to the grasper isactivated, the "pneumatic muscle" (grasper silicone) flexes, and the material grips theproduct gently and quickly.

There are many different styles and types of grippers and graspers available, as shown in thefollowing figure.

Chapter 1: Introduction

Figure 1-1. Adept OctoGrippers and OctoGraspers

Key Features

The following is a list of the key features of the Adept OctoGrippers and OctoGraspers. Thesegrippers:

l Are specifically designed for use in the food-packaging industry.

l Allow the robot to grip the product quickly, but gently.

l Are made of soft silicone that forms a firm but gentle grip on the product.

l Are tolerant of both high and low temperatures.

l Are compatible with a variety of cleaning agents and processes.

l Use a modular design, which enables quick replacement and production-line changes.

The Adept OctoGripper and OctoGrasper Series

The following table describes the different styles of Adept OctoGrippers and OctoGraspers andwhat they are designed to pick up. For detailed information on each individual series, refer toDescriptions and Specifications on page 13.

Table 1-1. Overview of OctoGrippers and OctoGraspers

Item SeriesName

Gripper/Grasper Description

1000 SeriesorSea Anem-one Series

Gripper The 1000 series, also know as the Sea Anem-one series of grippers, is a rectangular-shaped gripper, which is designed to han-dle packaged-food products, such as babyfood in pouches and salad trays. Fordetails, see 1000 Series on page 13.

3000 Seriesor

KrakenSeries

Gripper The 3000 series, also know as the Krakenseries of grippers, was developed for pick-ing up bagged and plastic-boxed items. Fordetails, see 3000 Series on page 13.

Adept OctoMation Grippers User's Guide, Rev. APage 8 of 32

Chapter 1: Introduction

Item SeriesName

Gripper/Grasper Description

5000 Seriesor

StingraySeries

Gripper The 5000 series, also know as the Stingrayseries of grippers, are designed for pre-pack-aged food items, such as tomatoes orpeppers in trays, or flow-wrapped cartons.For details, see 5000 Series on page 14.

6700 Seriesor Ea Series

Gripper The 6700 series, also know as the Ea seriesof grippers, was developed to handle rec-tangular or flat objects. For details, see 6700Series on page 15.

8000 Seriesor

HumboldtSeries

Grasper The 8000 series, also know as the Hum-boldt series of graspers, has a closedchamber that acts as a diaphragm to closearound the sides of the product. For details,see 8000 Series on page 15.

1.2 SafetyThe instructions contained in this manual must be precisely followed in all circumstances. Fail-ure to do so could result in potential sources of danger to personnel or damage to the equip-ment.

l All personnel who install, operate, or clean the equipment must read the documentationand be properly trained.

l All equipment must be cleaned following the guidelines in this manual and the prod-uct-specific cleaning procedures specified by your company.

l All equipment should be inspected for damage or wear during disassembly and reas-sembly. Damaged or worn components must be replaced before the equipment is oper-ated.

Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in Adept manuals. In descending order ofimportance, they are:

DANGER: This indicates an imminently hazardous electrical situationwhich, if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if notavoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical situationwhich, if not avoided, could result in serious injury or major damage to theequipment.

Adept OctoMation Grippers User's Guide, Rev. APage 9 of 32

Chapter 1: Introduction

WARNING: This indicates a potentially hazardous situation which, if notavoided, could result in serious injury or major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided, could result inminor injury or damage to the equipment.

NOTE: Notes provide supplementary information, emphasizes a point or pro-cedure, or gives a tip for easier operation.

1.3 How Can I Get Help?For details on getting assistance with your Adept software or hardware, you can access the fol-lowing information sources on the Adept corporate website:

l For contact information: http://www.adept.com/contact/americas

l For product support information: http://www.adept.com/support/service-and-sup-port/main

l For user discussions, support, and programming examples:http://www.adept.com/forum/

l For further information about Adept Technology, Inc.: http://www.adept.com

Related Manuals

This manual covers the installation and cleaning of the Adept OctoGrippers and Octo-Graspers. The following manuals (available on the AdeptDocument Library CD-ROM pro-vided with each system) provide information on related products.

Table 1-2. Related Manuals

Manual Title Description

Adept Robot Safety Guide Contains safety information for Adept robots.

Adept OctoMation User'sGuide

Describes the Adept OctoMation cell system, which is arobotic system that automates loading and packing of non-uni-form and unstable products in the food industry.

Robot or system user's guide(supplied with your equip-ment)

Describes the installation and operation of your Adept auto-mation component or system.

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You canaccess the ADL through either of the following methods:

Adept OctoMation Grippers User's Guide, Rev. APage 10 of 32

Chapter 1: Introduction

l Select Support > Document Library from the menu bar on the Adept website

l Type the following URL into your web browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

To locate information on a specific topic, use the Document Library search engine on the ADLmain page.

Adept OctoMation Grippers User's Guide, Rev. APage 11 of 32

Adept OctoMation Grippers User's Guide, Rev. APage 13 of 32

Chapter 2: Descriptions and Specifications

There are many variations of gripper and grasper styles to choose from in the Adept Octo-Grippers and OctoGraspers series. The following sections provide the details on each series.

NOTE: Where two Adept part numbers are shown, the first number represents thecomplete assembly, the second number represents the insert material only.

2.1 1000 SeriesThe 1000 series, also know as the Sea Anemone series of grippers, is a rectangular-shapedgripper, which is designed to handle packaged-food products, such as baby food in pouchesand salad trays.

This series is FDA compliant.

Model Model Adept P/N Handles Dimensions

1001 10921-0100110879-01001

Baby food inpouches

Height: 27 mmWidth: 54 mmLength: 82 mm

1101 10921-0110110879-01101

Salad trays Height: 39 mmWidth: 100 mmLength: 130 mm

2.2 3000 SeriesThe 3000 series, also know as the Kraken series of grippers, was developed for picking upbagged and plastic-boxed items. Air channels allow the gripper to conform to the part. Thechannels allow air flow around the part. As the gripper is placed on top of the product, it col-lapses around the product and wraps around it. By deforming in this way, the product is heldin the gripper and is prevented from falling out.

This series is not FDA compliant and, therefore, should only be used in secondary food-pack-aging applications.

Model Model Adept P/N Handles Dimensions

3001 10921-0300110879-03001

Bagged items Height: 70 mmWidth: 165 mmLength: 225 mm

Chapter 2: Descriptions and Specifications

Model Model Adept P/N Handles Dimensions

3003 10921-0300310879-03003

Whole chickenin plastic box

Height: 60 mmWidth: 158 mmLength: 211 mm

2.3 5000 SeriesThe 5000 series, also know as the Stingray series of grippers, are designed for pre-packagedfood items, such as tomatoes or peppers in trays, or flow-wrapped cartons.

These grippers use a combination of vacuum and gentle gripping to hold the sides of vege-table cartons. By gripping the sides of the cartons, and sealing to the top of the packaging, thegripper effectively holds the product securely and safely without damaging the product or thepackaging.

This series is not FDA compliant and, therefore, should only be used in secondary food-pack-aging applications.

Model Model Adept P/N Handles Dimensions

5004 10921-0500410879-05004

Tomatoes intrays

Flow-wrappedcarton

Height: 54 mmWidth: 108 mmLength: 125 mm

5005 10921-0500510879-05005

Tomatoes intrays

Flow-wrappedcarton

Height: 84 mmWidth: 158 mmLength: 172 mm

5009 10921-0500910879-05009

Tomatoes intrays

Flow-wrappedcarton

Height: 58 mmWidth: 90 mmLength: 149 mm

5011 10921-0501110879-05011

Tomatoes intrays

Flow-wrappedcarton

Height: 59 mmWidth: 96 mmLength: 224 mm

5012 10921-0501210879-05012

Peppers in traysFlow-wrapped

carton

Height: 66 mmWidth: 126 mmLength: 174 mm

Adept OctoMation Grippers User's Guide, Rev. APage 14 of 32

Chapter 2: Descriptions and Specifications

2.4 6700 SeriesThe 6700 series, also know as the Ea series of grippers, was developed to handle rectangularor flat objects. The chamber and the cup are designed to collapse around the product, pulling itup and in. The part is then held by the side walls so it can not fall out during a high-G, lateralmove.

This series is FDA compliant.

Model Model Adept P/N Handles Dimensions

6705 10921-0670510879-06705

Fish sticks Height: 55 mmWidth: 74 mmLength: 94 mm

6706 10921-0670610879-06706

Fish sticks Height: 55 mmWidth: 71 mmLength: 90 mm

6708 10921-0670810879-06708

Fish sticks Height: 68 mmWidth: 68 mmLength: 93 mm

2.5 8000 SeriesThe 8000 series, also know as the Humboldt series of graspers, has a closed chamber that actsas a diaphragm to close around the sides of the product. This style of gripper allows for pop-ping the product off by pressurizing the chamber to eject it.

NOTE: This is referred to as a grasper since the sides, or fingers, close in on thesides of the product and there is no direct vacuum path to the part.

This series is FDA compliant.

Model Model # Adept Part# Handles Dimensions

8000 10921-0800010879-08000

Soft cheese Height: 80 mmWidth: 110 mmLength: 125 mm

Adept OctoMation Grippers User's Guide, Rev. APage 15 of 32

Chapter 2: Descriptions and Specifications

Model Model # Adept Part# Handles Dimensions

8010 10921-0801010879-08010

Small pies andsimilar shapebaked goods

Height: 76 mmWidth: 139 mmLength: 142 mm

Adept OctoMation Grippers User's Guide, Rev. APage 16 of 32

Adept OctoMation Grippers User's Guide, Rev. APage 17 of 32

Chapter 3: Installation

This chapter covers the installation and setup of the Adept OctoGrippers and OctoGraspers.

3.1 Unpacking and Inspecting the OctoGrippers and OctoGraspersThis section covers unpacking, inspecting and repacking instructions.

Before Unpacking

Carefully inspect all shipping packages for evidence of damage during transit. If any damageis indicated, request that the carrier’s agent be present at the time the container is unpacked.

Unpacking

Before signing the carrier’s delivery sheet, compare the actual items received (not just the pack-ing slip) with your equipment purchase order. Verify that all items are present and that theshipment is correct and free of visible damage.

l If the items received do not match the packing slip, or are damaged, do not sign thereceipt. Contact Adept as soon as possible.

l If the items received do not match your order, please contact Adept immediately.

Retain all containers and packaging materials. These items may be necessary to settle claimsor, at a later date, to repackage and store the equipment.

Transport and Storage

The Adept OctoGrippers and OctoGraspers should be shipped and stored in the Adept-sup-plied packaging.

3.2 Installing the OctoGrippers and OctoGraspersThere are four basic components of the Adept OctoGrippers and OctoGraspers:

l Silicone gripper

l Twist-lock connector

l Swivel assembly

l Swivel-to-robot adapter plate

WARNING: Be sure that all parts are properly connected and secured.There are air and vacuum lines, bolts, and a quick-connect coupling thatmust be checked.

Chapter 3: Installation

Attaching the Gripper to the Robot

This section describes the procedure for attaching the gripper assembly to the robot. Refer tothe following figures while performing the procedure.

Figure 3-1. Swivel Assembly with Dual-Gripper Option

Figure 3-2. Adapter Plate and Swivel Assembly

1. Install the swivel-to-robot adapter plate to the robot tool flange, using 4 M6 x 15 socket-head screws.

2. Attach the swivel assembly to the adapter plate, using 3 M5 x 50 socket-head screws.

3. Attach the gripper to the swivel, using the quick-connect coupling. The following is anexploded view of the quick-connect coupling. The gripper silicone is attached by theinsert plate and screws (shown at the bottom of the following figure).

Adept OctoMation Grippers User's Guide, Rev. APage 18 of 32

Chapter 3: Installation

Figure 3-3. Quick-Connect Coupling Assembly

To attach the quick-connect coupling assembly to the swivel:

a. Align the quick-connect lock ring (see the following figure) with the swivel key-way,

b. Insert the lock ring into the swivel—ensure the lock ring is fully-inserted, whichwill enable the locking action described in the next step,

c. Tighten the lock ring by rotating it one-quarter turn counter-clockwise (whenviewed from above).

The gripper is locked in place.

Figure 3-4. Quick-Connect Lock Ring

Adept OctoMation Grippers User's Guide, Rev. APage 19 of 32

Chapter 3: Installation

4. Connect the air lines from the solenoid valve to the swivel.

a. Connect the 6 mm air line to the blow-off port on the top of the swivel assembly.

b. Connect the 1 inch vacuum tube to the side of the swivel body.

3.3 Dual-Gripper OptionThe dual gripper option, shown in the following figure, is a hollow connecting bar that hastwo mounts (for two grippers) and a quick-connect coupling on top. Inside the bar is a valvethat turns off the vacuum to one of the grippers. It is designed so that it picks the first partwith the "always on" gripper, and then opens the valve, which activates the second gripper forpicking the second part.

Dual Gripper Option

There is a "dual swivel" that is used with the dual gripper option. It contains air-line ports con-nected to a set of pneumatically-actuated pins that operate the valve and activate the secondgripper. See Figure 3-1.

3.4 Extender OptionsThere are several extender options available. These can be used in applications that requireadditional vertical reach. For example, an extender could be used in applications where therobot needs to reach into a deep box.

Adept OctoMation Grippers User's Guide, Rev. APage 20 of 32

Chapter 3: Installation

60 mm Extender

An optional 60 mm extender (shown in the following figure) is available. The optionalextender mounts between the adapter plate and the top of the swivel assembly.

Figure 3-5. Optional 60 mm Extender

80 mm Extender

An optional 80 mm extender (shown in the following figure) is available. The optionalextender attaches directly to the standard quick-connect coupling at the bottom of the swivelassembly. The extender incorporates a quick-connect coupling, so that the grippers can beeasily installed and removed.

Figure 3-6. Optional 80 mm Extender

Adept OctoMation Grippers User's Guide, Rev. APage 21 of 32

Chapter 3: Installation

130 mm Extender

An optional 130 mm extender (shown in the following figure) is available. The optionalextender attaches directly to the standard quick-connect coupling at the bottom of the swivelassembly. The extender incorporates a quick-connect coupling, so that the grippers can beeasily installed and removed.

Figure 3-7. Optional 130 mm Extender

Adept OctoMation Grippers User's Guide, Rev. APage 22 of 32

Adept OctoMation Grippers User's Guide, Rev. APage 23 of 32

Chapter 4: Cleaning

This chapter provides general information for cleaning the Adept OctoGrippers and Octo-Graspers. This information applies only to the gripper, extender and swivel. Refer to yourequipment guides and product-specific cleaning procedures for information on cleaning therobot and other equipment.

The instructions in this chapter, and your product-specific cleaning procedures, must be care-fully and thoroughly followed in order to maintain a clean, hygienic, and safe food-handlingenvironment.

WARNING: Follow all safety precautions and cleaning procedures man-dated by your company for the product-specific cleaning operations.

4.1 Safety Considerations

WARNING: Only trained and qualified personnel are allowed to performthe cleaning operations.

Adept recommends that you:

l Wear a protective suit, for protection against cleaning agents and disinfectants used dur-ing the cleaning process.

l Wear safety glasses to protect your eyes.

l Protect any exposed skin.

l Ventilate the working area.

l Follow all other equipment and safety precautions mandated by your company for theproduct-specific cleaning procedure.

4.2 Cleaning OverviewThe OctoGrippers and OctoGraspers come in direct contact with the food products and, there-fore, require special attention and cleaning in order to make sure that they are contaminatefree.

The cleaning procedures vary depending on the type of product being handled. Therefore, it isimperative to follow the specific cleaning procedures for the product being handled.

Cleaning and disinfecting are two separate operations. Both must be completed by thoroughlyrinsing with clean water.

Chapter 4: Cleaning

Methods of Cleaning

Food processing equipment is either cleaned-in-place (CIP) or cleaned-out-of-place (COP). TheOctoGrippers and OctoGraspers are cleaned using the COP method, which is described in thefollowing section.

Clean Out of Place (COP)

COP cleaning is used to clean equipment that requires disassembly for proper cleaning. Typ-ically, the parts are removed, disassembled, and placed in a circulation tank, which cleansusing a heated chemical solution and agitation.

4.3 Disassembling the OctoGrippers and OctoGraspersThe gripper assembly is removed in the Preparing for Cleaning process described in the AdeptOctoMation User's Guide.

CAUTION: During the part-removal process, make sure that no parts arelost, dropped, or damaged, as these will be required for re-installation.

Disassembling the Gripper

The gripper silicone is attached to the gripper body with an internal insert and four screws.

To disassemble the gripper:

1. Insert a small Phillips screwdriver through one of the openings in the bottom of the sil-icone, to remove the four screws holding the insert.

2. Carefully pry the silicone out of the groove in the gripper body.

3. Remove the insert from the silicone. It is cleaned with the other black-plastic gripperparts.

4. Retain all parts for reassembly.

Disassembling the Grasper

The grasper has no openings in the bottom surface—it is attached to the the body by fittingtightly into the body's groove.

To remove the grasper silicone, carefully pry the it from the groove in the body.

Disassembling the Gripper Body and Swivel

In order to thoroughly clean the gripper body and swivel assembly, it must be removed fromthe robot and cleaned out-of-place (COP).

To disassemble the gripper body and swivel, simply reverse the assembly process used in theinstallation procedure. For details, see Attaching the Gripper to the Robot on page 18.

Adept OctoMation Grippers User's Guide, Rev. APage 24 of 32

Chapter 4: Cleaning

NOTE: Some cells use an extender between the robot and the gripper body to enableplacement of parts into deeper boxes. This extender must be removed and cleanedin the same way as the gripper body and swivel.

4.4 Cleaning the Gripper Assembly and SiliconeThis section provides general information for cleaning the gripper assembly and silicone. Forcleaning instructions, you must refer to the company-mandated cleaning procedure for the spe-cific food product being handled.

Cleaning the Gripper Assembly

The gripper body parts and swivel are made from Polyoxymethylene (POM), which is used inprecision parts that require high stiffness, low friction and excellent stability. It is approved bythe Food and Drug Administration (FDA) for use in food handling, and is resistant to cleaningagents that are used in the food industry.

CAUTION: The gripper body and swivel must not be exposed to tem-peratures over 85° C (185° F) when cleaning with only water, and 60° C(140° F) when cleaning with chemicals. These itemsmust not be soakedfor prolonged periods in water or detergents. For details on cleaning tem-peratures, see Table 4-1.

Cleaning the Gripper Silicone

The grippers are made of soft silicone and, therefore, can be cleaned with chemicals, steam,detergents or a combination, as required by your specific cleaning procedures.

To clean the gripper silicone, follow your specific cleaning procedure for parts that come indirect contact with the product.

NOTE: Do not use abrasive cleansers or brushes on the gripper silicone.

Gripper Materials and Cleaning Guidelines

The following table lists the materials of each gripper part and cleaning guidelines.

NOTE: The temperatures shown below are for cleaning with water only. If cleaningchemicals are used, the temperature cannot exceed 60° C (140° F).

Table 4-1. Gripper Cleaning Guidelines

GripperPart Material Cleaning Agents

Permitted

Max. Temperature(when using only

water)

Max. Temperature(when using chem-

icals)

GripperSilicone

Silicone Same as Quattro robot up to 93° C (199° F) up to 60° C (140° F)

Insert POM Same as Quattro robot up to 85° C (185° F) up to 60° C (140° F)

Adept OctoMation Grippers User's Guide, Rev. APage 25 of 32

Chapter 4: Cleaning

GripperPart Material Cleaning Agents

Permitted

Max. Temperature(when using only

water)

Max. Temperature(when using chem-

icals)

GripperBody

POM Same as Quattro robot up to 85° C (185° F) up to 60° C (140° F)

Extender POM Same as Quattro robot up to 85° C (185° F) up to 60° C (140° F)

Swivel POM Same as Quattro robot up to 85° C (185° F) up to 60° C (140° F)

Adept OctoMation Grippers User's Guide, Rev. APage 26 of 32

Adept OctoMation Grippers User's Guide, Rev. APage 27 of 32

Chapter 5: Technical Specifications

5.1 Dimension DrawingsThe dimension drawings for the swivel assembly are shown in the following figure.

78

89

46

78

NOTE: Dimensions are in millimeters.

Figure 5-1. Gripper Swivel Assembly Dimensions

72- 0

,100

41,200

+0,10

d.c.d

.:

50±0,1

0

45

°

A

A

5,50

36

±0

,10

41

,15

-0

,05

0

65,50

6 0

+0,50

6,2

0

1 30° X

1,6

1,6

NOTE: Dimensions are in millimeters.

Figure 5-2. 60 mm Extension

Chapter 5: Technical Specifications

65

58

017

,80

-0

,10

02

7,8

0

36

,50

65

93

80

58

2 pcs.4,20

±0,10 x 16

(10,56 )

R2,50

28°d

.c.d

.:4

5

(19

,87

)

A A

65

58

017

,80

-0

,10

02

7,8

0

36

,50

11

5

14

3

13

0

NOTE: Dimensions are in millimeters.

Figure 5-3. 80 mm and 130 mm Extensions

Adept OctoMation Grippers User's Guide, Rev. APage 28 of 32

Chapter 5: Technical Specifications

5.2 SpecificationsThe specifications for the swivel assembly are shown in the following table.

Table 5-1. Gripper Swivel Assembly Specifications

Description Specification

Physical

Height 89 mm

Width (body) 78 mm

Depth 78 mm

Weight - Swivel Assembly 0.5 kg

Weight - Quick-Connect Assembly(without silicone)

0.15 kg

Environmental

Operating Temperature 1 to 40° C (34 to 104° F)

Storage Temperature -25 to 55° C (-13 to 131° F)

Relative Humidity 5 to 90%, non-condensing

Adept OctoMation Grippers User's Guide, Rev. APage 29 of 32

PN: 11681-000, Rev. A

5960 Inglewood DrivePleasanton, CA 94588925·245·3400