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Angular grippers

FIPA angular grippers are available with 40° and 180° angle strokes. They are suited to automation tasks which involve the transport, mounting or clamping of workpieces. Upon request, FIPA is able to manufacture custom gripper jaws for optimal adaptation to your application. Optional sensors monitor the piston position and thus the gripping process.


2-finger angular grippers 40°

  • Grippers for undercuts, clamping, mounting and pick & place applications
  • Double-acting: Inside / outside gripping and short duty cycles
  • Body and jaws made of high-strength aluminium alloy
  • Sensors for monitoring gripper action via piston position optionally available

Technical data

Item no.GR04.123-10GR04.123-16GR04.123-20GR04.123-25GR04.123-32
Principle of operation Double-acting Double-acting Double-acting Double-acting Double-acting
Pressure range [bar] 1.5 - 7 1.5 - 7 1.5 - 7 1.5 - 7 1.5 - 7
Max. closing torque at 6 bar [Ncm] 11 47 100 199 358
Max. opening torque at 6 bar [Ncm] 15 65 135 252 476
Piston diameter [mm] 10 16 20 25 32
Max. Operating frequency [1/min] 180 180 180 180 180
Operating temperature [°C] 0 - 60 0 - 60 0 - 60 0 - 60 0 - 60
Weight [g] 100 120 200 330 560
Medium Filtered and oiled / unoiled air Filtered and oiled / unoiled air Filtered and oiled / unoiled air Filtered and oiled / unoiled air Filtered and oiled / unoiled air
Angle lift open [°] -10 -10 -10 -10 -10
Angle lift closed [°] 30 30 30 30 30
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+Ordering notes

  • PNP and NPN sensors:
    - T-slot (straight): GR04.203P, GR04.203N

+Dimensions

  • 5 = Sensor slot for GR04.203
  • 2 = Compressed air connection open
  • 3 = Compressed air connection close
Item no.GR04.123-10GR04.123-16GR04.123-20GR04.123-25GR04.123-32
A [mm]2334455260
B [mm]1622263240
C [mm]5263758798
D [mm]15.717.5222630
E [mm]79121418
F [mm]467910
G [mm]33456
H [mm]68101214
IM3M3M4M5M5
J [mm]1726354046
K [mm]1014162026
LM3M4M5M6M6
MM3M5M5M5M5
NM3M4M5M6M6
O [mm]1824303644

+Diagrams

BD_GR04.123-10-Diagramm-Greifkraft_en_Master zoom

GR04.123-10

Gripping force as a function of length of gripping point and feed pressure

BD_GR04.123-16-Diagramm-Greifkraft_en_Master zoom

GR04.123-16

Gripping force as a function of length of gripping point and feed pressure

BD_GR04.123-20-Diagramm-Greifkraft_en_Master zoom

GR04.123-20

Gripping force as a function of length of gripping point and feed pressure

BD_GR04.123-25-Diagramm-Greifkraft_en_Master zoom

GR04.123-25

Gripping force as a function of length of gripping point and feed pressure

BD_GR04.123-32-Diagramm-Greifkraft_en_Master zoom

GR04.123-32

Gripping force as a function of length of gripping point and feed pressure

+Length of gripping point (* see diagrams)

+Accessories

Item no. Suitable connector cableSuitable base jawsSuitable sensorsSuitable mounting brackets
GR04.123-1020.503GR04.123-10-1GR04.203N, GR04.203PGR06.050
GR04.123-1620.503GR04.123-16-1GR04.203N, GR04.203PGR06.051
GR04.123-2020.503GR04.123-20-1GR04.203N, GR04.203PGR06.052
GR04.123-2520.503GR04.123-25-1GR04.203N, GR04.203PGR06.053
GR04.123-3220.503GR04.123-32-1GR04.203N, GR04.203PGR06.054

NEW

Base jaws for angular grippers

  • Aluminium blanks for customised jaws

Technical data

Item no.GR04.123-10-1GR04.123-16-1GR04.123-20-1GR04.123-25-1GR04.123-32-1
Suitable for angular grippers GR04.123-10 GR04.123-16 GR04.123-20 GR04.123-25 GR04.123-32
Weight [g] 18 30 38 56 150
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+Ordering notes

  • Screws included in scope of delivery

+Dimensions

Item no.GR04.123-10-1GR04.123-16-1GR04.123-20-1GR04.123-25-1GR04.123-32-1
A [mm]14.720.52429.833
B [mm]29.731.5364044
C [mm]1214171923

2-finger angular gripper 180° - self-centering

  • High gripping force with high gripping precision
  • Gripping of objects located behind large undercuts; clamping and assembly of parts
  • Suitable for dusty environments due to dust protection seals
  • Double-acting, short duty cycles
  • Body and jaws made of high-strength aluminium alloy
  • Versatile use with customised gripper jaws
  • Optional parts monitoring by detection of piston position
    PNP and NPN sensors:
    - Round nut (cable straight, short design): GR04.280P, GR04.280N
    - Round nut (cable 90°): GR04.202P, GR04.202N

Technical data

Item no.GR04.121-10GR04.121-16GR04.121-20GR04.121-25
Principle of operation Double-acting Double-acting Double-acting Double-acting
Pressure range [bar] 1 - 6 1 - 6 1 - 6 1 - 6
Piston diameter [mm] 10 16 20 25
Angle lift open [°] 180 - 182 180 - 182 180 - 182 180 - 182
Angle lift closed [°] -3 -3 -3 -3
Repeat accuracy [mm] +/- 0.2 +/- 0.2 +/- 0.2 +/- 0.2
Max. Operating frequency [1/min] 60 60 60 60
Operating temperature [°C] -10 - 60 -10 - 60 -10 - 60 -10 - 60
Weight [g] 80 150 320 600
Medium Filtered and oiled / unoiled air Filtered and oiled / unoiled air Filtered and oiled / unoiled air Filtered and oiled / unoiled air
Effective gripping torque [Nm] 0.16 0.54 1.1 2.28
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+Ordering notes

Extension cable for sensors:

  • 20.503: 3-Pole M8, length 2.500 mm, open wire
  • 20.570: 3-Pole M8, length 1.500 mm, end with plug 3-Pole M8
  • PNP and NPN sensors:
    - C-slot (90° angle): GR04.202P, GR04.202N
    - C-slot (straight, short design): GR04.280P, GR04.280N

+Dimensions

  • * = Tolerance: -0.005 mm to -0.025 mm
  • 2 = Compressed air connection open
  • 3 = Compressed air connection close
Item no.GR04.121-10GR04.121-16GR04.121-20GR04.121-25
G12-M3 x 6 depth2-M4 x 8 depth2-M5 x 10 depth2-M6 x 12 depth
G24-M34-M34-M44-M5
G32-M3 x 4 depth2-M4 x 5 depth2-M5 x 8 depth2-M6 x 10 depth
A [mm]30384858
B [mm]586986107
BB [mm]7184106131
D [mm]35415060
F [mm]22.533
G [mm]9121618
H [mm]24303642
I [mm]24303846
J [mm]381214
K [mm]13182024
L [mm]13182024
M [mm]22283645
O [mm]23.528.53745
P [mm]45810
Q [mm]681012
R [mm]12141822.5
S [mm]67912
T [mm]3456
W [mm]15202630
X [mm]30334250
Y [mm]9121416
Ø Z [mm]3.44.55.56.6

+Examples of application

BD_GR04.121-10-spannen zoom

Clamping

BD_GR04.121-10-montieren zoom

Assembly

+Accessories

Item no. Suitable connector cableSuitable sensors
GR04.121-1020.503, 20.570GR04.202N, GR04.202P, GR04.280N, GR04.280P
GR04.121-1620.503, 20.570GR04.202N, GR04.202P, GR04.280N, GR04.280P
GR04.121-2020.503, 20.570GR04.202N, GR04.202P, GR04.280N, GR04.280P
GR04.121-2520.503, 20.570GR04.202N, GR04.202P, GR04.280N, GR04.280P

NEW

Mounting brackets for parallel and angular grippers

  • Brackets for mounting parallel or angular grippers to extrusions
  • Compatible with many brands of grippers due to slotted mounting holes

Technical data

Item no.GR06.050GR06.051GR06.052GR06.053GR06.054GR06.055
Suitable for GR04.122-10, GR04.123-10 GR04.122-16, GR04.123-16 GR04.122-20, GR04.123-20 GR04.122-25, GR04.123-25 GR04.122-32, GR04.123-32 GR04.122-32
Weight [g] 14 16 52 56 110 152
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+Dimensions

Item no.GR06.050GR06.051GR06.052GR06.053GR06.054GR06.055
Ø A [mm]101420203030
B [mm]6688810
C min. [mm]162230324456
C max. [mm]25.732.540505365
D [mm]3.54.55.56.56.58.5
Ø E [mm]333949596479
F [mm]141824243240
L [mm]60609090120120